A tethered robot platform

Abstract

The present application relates to power supply equipment technical field, especially to a kind of robot platform of towed cable power supply.One kind of robot platform of towed cable power supply, including wire feeder, differential speed carrying power supply trolley and industrial computer, the differential speed carrying power supply trolley is connected with the industrial computer and external power supply by wire feeder;The wire feeder includes winding device and cable tension feedback device, the winding device includes winding drum and driving device, and the winding drum is used to wind cable.The robot platform of towed cable power supply can realize wired communication and power supply, meet the needs of trolley carrying high-power instrument equipment and wired communication, while wire feeder can dynamically adjust the action of winding and unwinding by adapting to the state of trolley, and effectively avoid the situation of winding, solve the technical problems that existing differential speed carrying trolley has wireless communication environment restriction, wire feeder cannot adapt to the movement of trolley, and winding situation is prone to occur.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of power supply equipment, in particular to a robot platform powered by a towed cable. BACKGROUND

[0002] The secret unit is prohibited to use the equipment with wireless function, so the two-wheel differential car cannot be remotely controlled by the conventional wireless communication mode. Meanwhile, if the car needs to carry large-power instruments and equipment, the capacity of the on-board battery pack, the upper limit of the discharge current and other parameter indexes have great requirements. Even if the conditions are met, the discharge protection current will be cut off due to the rapid heating of the battery. Therefore, the differential carrying power supply car using the battery cannot meet the needs of carrying large-power instruments and equipment and wired communication. In addition, the existing cable feeder is generally manually dragged or semi-automatically, and the cable is quickly recovered through the built-in spring. Even if it is fully automatic, it cannot well adapt to the motion of the car. At the same time, the car tail has a cable, and the car may be wound during the motion of the car. SUMMARY

[0003] In view of the problems in the background art, the present application aims to provide a robot platform powered by a towed cable, which can realize wired communication and power supply, meet the needs of carrying large-power instruments and equipment and wired communication, and dynamically adjust the winding and unwinding action of the cable feeder according to the state of the car, and effectively avoid the winding situation, solving the technical problems that the existing differential carrying power supply car has the restriction of wireless communication environment, the cable feeder cannot adapt to the motion of the car, and the winding situation easily occurs.

[0004] To achieve this purpose, the present application adopts the following technical solutions:

[0005] A robot platform powered by a towed cable, comprising a cable feeder, a differential carrying power supply car and an industrial computer, wherein the differential carrying power supply car is connected with the industrial computer and an external power source through the cable feeder;

[0006] The cable feeder comprises a winding device and a cable tension feedback device. The winding device comprises a winding drum and a driving device. The winding drum is used for winding the cable. The output end of the driving device is connected with the winding drum. The driving device drives the winding drum to rotate to perform the winding and unwinding action of the cable. The cable tension feedback device is located between the differential carrying power supply car and the winding device. The cable tension feedback device is used for detecting the tension degree of the cable and sending the tension degree to the industrial computer.

[0007] The differential carrier power supply trolley comprises a trolley body, a driver and an inertial navigation unit arranged on the trolley body, the inertial navigation unit is used for measuring the heading angle of the differential carrier power supply trolley and sending the heading angle to the industrial computer; the driver is used for driving the movement of the differential carrier power supply trolley and sending the code value to the industrial computer;

[0008] The industrial computer is used for receiving the tensioning degree condition, the code value and the heading angle, and controlling the work of the driving device according to the tensioning degree condition, the code value and the heading angle, so as to dynamically control the take-up and pay-off speed of the winding drum.

[0009] Further, the differential carrier power supply trolley further comprises a radar, the radar is arranged on the front end surface of the trolley body, and the inertial navigation unit is arranged on the rear end surface of the radar;

[0010] The radar is used for measuring the real position of the differential carrier power supply trolley and sending the real position to the industrial computer; the industrial computer is used for receiving the real position and controlling the work of the driver according to the real position, so as to control the moving direction of the differential carrier power supply trolley.

[0011] Further, the first carrier is further arranged, the driving device and the cable tensioning feedback device are respectively connected with the first carrier in wired communication;

[0012] The differential carrier power supply trolley further comprises a second carrier and a power supply assembly, the driver, the inertial navigation unit and the radar are respectively connected with the second carrier in wired communication, and the power supply assembly is used for supplying power to the external carrying equipment;

[0013] One end of the cable is connected with the external power supply and the first carrier, the first carrier is connected with the industrial computer in wired communication, and the other end of the cable is wound on the winding drum and sequentially connected with the cable tensioning feedback device, the second carrier and the power supply assembly.

[0014] Further, the cable comprises a power supply cable and a communication cable;

[0015] One end of the power supply cable is connected with the external power supply, and the other end of the power supply cable is connected with the power supply assembly;

[0016] One end of the communication cable is connected with the first carrier, and the other end of the communication cable is connected with the second carrier.

[0017] Further, the power supply assembly comprises a power supply switch and a power supply socket, the power supply switch is connected with the power supply cable, and the power supply socket is connected with the power supply switch;

[0018] The differential carrying power supply trolley further comprises a backup battery connected with the power switch.

[0019] Further, the differential carrying power supply trolley further comprises an ultrasonic sensor arranged at the front end of the trolley body and a collision prevention strip arranged on the outer wall of the trolley body.

[0020] Further, the cable tension feedback device is arranged below the winding device, and comprises a mounting frame, a first pulley, a first rotating shaft, a second pulley, a second rotating shaft, a swing rod and an angle sensor.

[0021] The first rotating shaft is rotationally arranged on the mounting frame, and the first pulley is rotationally arranged on the first rotating shaft.

[0022] The second pulley is arranged below the first pulley, one end of the swing rod is fixedly connected with the first rotating shaft, the other end of the swing rod is fixedly connected with the second rotating shaft, and the second pulley is rotationally arranged on the second rotating shaft.

[0023] The angle sensor is connected to the end of the first rotating shaft, and is used for measuring the vertical angle of the swing rod.

[0024] Further, the cable is wound on the first pulley and the second pulley in an "S" shape.

[0025] Further, the cable tension feedback device further comprises a position adjusting assembly, the position adjusting assembly comprises a fixed plate and an elastic member, the fixed plate is fixedly installed on the mounting frame, one end of the elastic member is connected with the fixed plate, the other end of the elastic member is connected with the swing rod, the elastic member is arranged in the front-rear direction, and the swing rod is arranged in the up-down direction.

[0026] Further, the differential carrying power supply trolley further comprises an equipment mounting assembly, the equipment mounting assembly comprises a first mounting strip, at least two second mounting strips and at least two mounting blocks.

[0027] The first mounting strip is arranged in the front-rear direction, the second mounting strip is arranged in the left-right direction, and the second mounting strip is slidingly arranged on the upper surface of the first mounting strip in the front-rear direction and the left-right direction.

[0028] The mounting block is detachably mounted with a first sliding block and a second sliding block, the first mounting strip is provided with a first guide rail in the front-rear direction, the second mounting strip is provided with a second guide rail in the left-right direction, the first sliding block is clamped on the first guide rail and slidingly connected with the first guide rail, and the second sliding block is clamped on the second guide rail and slidingly connected with the second guide rail.

[0029] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0030] 1. By connecting the industrial control computer and external power supply via the wire feeder, communication and power supply between the industrial control computer, the wire feeder and the differential speed transport power supply trolley can be realized. It can provide high-power power supply to external equipment while meeting the requirements of classified units to prohibit wireless communication equipment. Effective long-distance remote control can be realized based on wired communication.

[0031] 2. By setting up an inertial navigation unit (IMU), the IMU can measure the heading angle of the differential speed power supply trolley. Through the coded values ​​of the driver, its position and speed can be measured. Based on the heading angle and the speed of the differential speed power supply trolley, the winding and unwinding speeds of the cable reel can be calculated, achieving synchronization between the cable reel and the differential speed power supply trolley. Furthermore, a cable tension feedback device detects the cable tension. Since the drive unit can drive the cable drum to rotate, achieving fully automatic rotation of the drum, the industrial control computer can control the operation of the drive unit based on the tension, coded values, and heading angle, thereby dynamically controlling the winding and unwinding speeds of the drum. This allows the cable reel to adapt to the trolley's state and dynamically adjust its winding and unwinding actions.

[0032] 3. The inertial navigation unit can measure the heading angle of the differential transport power supply trolley. The position and speed of the differential transport power supply trolley can be measured through the encoded value of the driver. By combining these two sensors, the real-time relative position and orientation of the trolley can be estimated, so that the trolley can avoid the situation of the trolley going around the line during the movement. Attached Figure Description

[0033] Figure 1 This is a three-dimensional structural diagram of a cable-powered robot platform according to an embodiment of the present invention;

[0034] Figure 2 This is a three-dimensional structural schematic diagram of a differential speed transport power supply vehicle for a cable-powered robot platform according to an embodiment of the present invention.

[0035] Figure 3 yes Figure 2 Enlarged view of point A;

[0036] Figure 4 This is a schematic diagram of the internal structure of a differential speed transport power supply vehicle of a cable-powered robot platform according to an embodiment of the present invention.

[0037] Figure 5 This is a three-dimensional structural schematic diagram of the cable tensioning feedback device of the cable feeder of the differential transport power supply trolley of a cable-powered robot platform according to an embodiment of the present invention.

[0038] Figure 6 is a perspective structural schematic view of a cable tension feedback device of a cable feeder of a differential carrier power supply trolley of a towed cable power supply robot platform according to an embodiment of the present application;

[0039] Figure 7 is a perspective structural schematic view of a cable winding device of a cable feeder of a differential carrier power supply trolley of a towed cable power supply robot platform according to an embodiment of the present application;

[0040] In the drawings: cable 10, cable feeder 1, cable winding device 11, cable winding drum 111, driving device 112, shaft coupling 113, slip ring 114, connecting shaft 115, cable tension feedback device 12, mounting frame 121, first pulley 122, first rotating shaft 123, second pulley 124, second rotating shaft 125, swing rod 126, angle sensor 127, position adjusting assembly 128, fixed plate 1281, elastic member 1282, differential carrier power supply trolley 2, trolley body 21, driver 22, radar 23, second carrier 24, power supply assembly 25, power supply switch 251, power supply socket 252, backup battery 26, ultrasonic sensor 27, anti-collision strip 28, equipment mounting assembly 29, first mounting strip 291, first guide rail 2911, second mounting strip 292, second guide rail 2921, mounting block 293, first sliding block 2931, second sliding block 2932, industrial computer 3, first carrier 4. DETAILED DESCRIPTION

[0041] Embodiments of the present application are described in detail below with reference to the accompanying drawings, in which examples of the embodiments are shown, wherein the same or similar notations are used to denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary, only for explaining the present application, and cannot be understood as limiting the present application.

[0042] In the description of the present application, it should be understood that the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the features defined as "first", "second" can explicitly or implicitly include one or more of the features, for distinguishing the described features, without order, without difference in importance.

[0043] As Figures 1 to 7As shown, a power cable for a robot platform, including a wire feeder 1, a differential carrier power supply trolley 2 and an industrial computer 3, the differential carrier power supply trolley 2 is connected with the industrial computer 3 and external power supply through the wire feeder 1;

[0044] The wire feeder 1 includes a wire winding device 11 and a cable tension feedback device 12, the wire winding device 11 includes a wire winding drum 111 and a driving device 112, the wire winding drum 111 is used for winding the cable 10, the output end of the driving device 112 is connected with the wire winding drum 111, the driving device 112 drives the wire winding drum 111 to rotate to perform the cable 10 winding and unwinding action; the cable tension feedback device 12 is located between the differential carrier power supply trolley 2 and the wire winding device 11, the cable tension feedback device 12 is used for detecting the tension degree of the cable 10 and sending the tension degree to the industrial computer 3;

[0045] The differential carrier power supply trolley 2 includes a trolley body 21 and a drive 22 and an inertial navigation unit arranged on the trolley body 21, the inertial navigation unit is used for measuring the heading angle of the differential carrier power supply trolley 2 and sending the heading angle to the industrial computer 3; the drive 22 is used for driving the movement of the differential carrier power supply trolley 2 and sending the code value to the industrial computer 3;

[0046] The industrial computer 3 is used for receiving the tension degree, the code value and the heading angle, and controlling the work of the driving device 112 according to the tension degree, the code value and the heading angle, so as to dynamically control the winding and unwinding speed of the wire winding drum 111.

[0047] The existing power supply trolley connected cable is generally only used for power supply, and the control of the trolley is remotely controlled by wireless communication, the differential carrier power supply trolley 2 is connected with the industrial computer 3 and external power supply through the wire feeder 1, which can realize the communication and power supply between the industrial computer 3 and the wire feeder 1 and the differential carrier power supply trolley 2, can provide high-power power supply for external mounted equipment, at the same time, meet the requirement of the secret unit to disable wireless communication equipment, realize effective remote control based on wired communication. Since the wire feeder 1, the differential carrier power supply trolley 2 and the industrial computer 3 and external power supply are connected by using the cable 10, the trolley is easy to appear winding in the process of movement. The inertial navigation unit (IMU unit) is arranged in the application, the inertial navigation unit can measure the heading angle of the differential carrier power supply trolley 2, the code value of the drive 22 can measure the position and movement speed, assuming that the wire winding device 11 is located at zero degree, according to the heading angle yaw and the movement speed value V carThe take-up and pay-off speed V of the wire winding device 11 can be calculated using the following formula to achieve synchronization between the wire winding device 11 and the differential carrier power supply trolley 2:

[0048] V = V car * cos(yaw).

[0049] In addition, the tension of the cable 10 is detected by the cable tension feedback device 12, and the difference between the absolute angle encoder feedback output value and the given value is taken as input to dynamically adjust the speed of the winding drum 111 based on the PID algorithm, thereby ensuring constant tension. Since the driving device 112 can drive the winding drum 111 to rotate, full-automatic rotation of the winding drum 111 is achieved, and the industrial computer 3 can control the operation of the driving device 112 according to the tension, the encoding value, and the heading angle, thereby dynamically controlling the take-up and pay-off speed of the winding drum 111 and achieving dynamic adjustment of the take-up and pay-off action of the wire winding device 11 according to the state of the trolley.

[0050] Furthermore, the inertial navigation unit can measure the heading angle of the differential carrier power supply trolley 2, and the encoding value of the driver 22 can measure the position and movement speed of the differential carrier power supply trolley 2. By combining these two sensors, the real-time relative position and pose orientation of the trolley can be estimated, so that the trolley can avoid winding during movement.

[0051] The towed cable power supply robot platform can realize wired communication and power supply, meet the needs of trolley carrying high-power instruments and equipment and wired communication, and dynamically adjust the take-up and pay-off action of the wire feeder 1 according to the state of the trolley, effectively avoid winding, and solve the technical problems of existing differential carrier trolleys having wireless communication environment restrictions, wire feeders being unable to adapt to the movement of the trolley, and easy winding.

[0052] Further, the differential carrier power supply trolley 2 further comprises a radar 23, the radar 23 is arranged at the front end surface of the trolley body 21, and the inertial navigation unit is arranged at the rear end surface of the radar 23.

[0053] The radar 23 is used to measure the real position of the differential carrier power supply trolley 2 and send the real position to the industrial computer 3; the industrial computer 3 is used to receive the real position and control the operation of the driver 22 according to the real position to control the moving direction of the differential carrier power supply trolley 2.

[0054] It should be noted that the front end of the differential carrier power supply trolley 2 is the trolley head, and the differential carrier power supply trolley 2 is based on a two-wheel differential model. The actual displacement and moving speed of the differential carrier power supply trolley 2 can be calculated according to the code value of the driver 22 (the action needs to be started at the starting position, which refers to the time when the wire is not yet paid out and the trolley head is aligned, and then the moving speed test can be performed depending on the driver 22). Specifically, the driver 22 is a wheel-type driver. The radar 23 is arranged at the trolley head, and the inertial navigation unit (IMU unit) is arranged opposite the radar 23. The heading angle of the trolley head can be measured by the built-in inertial navigation unit. In combination with the driver 22 and the inertial navigation unit, the real-time relative position and pose orientation of the differential carrier power supply trolley 2 can be estimated. However, the differential carrier power supply trolley 2 may have a driving wheel slip phenomenon in actual operation, which will cause errors and accumulation between the code value of the driver 22 and the actual walking distance. Therefore, the radar 23 is mounted on the trolley head. Specifically, the radar 23 is a laser radar or a millimeter wave radar (generally, a laser radar can be used, and a millimeter wave radar can be used in rain and fog environment). By scanning the fixed landmarks near the differential carrier power supply trolley 2 through the radar 23, the relative position change of the differential carrier power supply trolley 2 can be calculated, so as to correct the position estimation value of the differential carrier power supply trolley 2. The differential carrier power supply trolley 2 can perceive environmental information according to the above-mentioned various sensors, and calculate its position and attitude in real time. Therefore, the differential carrier power supply trolley 2 can realize autonomous positioning and avoid actions that may cause winding during movement.

[0055] It is worth noting that when the cable 10 is connected to the differential carrier power supply trolley 2, the cable 10 is connected to the tail of the differential carrier power supply trolley 2, and the wire feeder 1 is installed in advance and fixed to the wall. During the movement of the differential carrier power supply trolley 2, the industrial computer 3 controls the operation of the driver 22 according to the real position (estimating the relative position of the differential carrier power supply trolley 2 and the fixed wire feeder 1, and considering the position of the tail cable 10 and the wire feeder 1) to control the moving direction of the differential carrier power supply trolley 2, selectively perform a rotating action, and autonomously select an appropriate direction to move, thereby avoiding the winding situation. The following two points are mainly considered: 1. The consideration of the trolley head yaw angle to avoid the situation that the differential carrier power supply trolley 2 rotates with the trolley head facing the wire feeder 1; 2. The consideration of the position of the cable 10 at the tail of the trolley body to avoid the situation that the differential carrier power supply trolley 2 advances against the cable 10.

[0056] Further, the drive device 112 and the cable tension feedback device 12 are respectively connected with the first carrier 4 through wired communication;

[0057] The differential carrier power supply trolley 2 further comprises a second carrier 24 and a power supply component 25, the drive 22, the inertial navigation unit and the radar 23 are respectively connected with the second carrier 24 through wired communication, and the power supply component 25 is used for supplying power to the externally carried device;

[0058] One end of the cable 10 is connected with an external power supply and the first carrier 4, the first carrier 4 is connected with the industrial computer 3 through wired communication, and the other end of the cable 10 is wound on the winding drum 111, and then connected with the cable tension feedback device 12, the second carrier 24 and the power supply component 25 in sequence.

[0059] By setting the first carrier 4 and the second carrier 24, the industrial computer 3 and the wire feeder 1 and the differential carrier power supply trolley 2 are connected through power carrier for long-time power supply and wired communication control, which can solve the high-power power supply demand of the externally carried device and meet the requirement of the secret unit to disable wireless communication equipment, and realize effective remote control based on wired communication. Specifically, the external power supply is a 220V alternating current power supply, the first carrier 4 and the second carrier 24 are directly connected through the cable 10, and the two ends can output Ethernet data and 220V alternating current through the carrier, the cable tension feedback device 12 can send the tension degree to the industrial computer 3 through the first carrier 4, the inertial navigation unit can send the heading angle to the industrial computer 3 through the second carrier 24 and the first carrier 4, and the drive 22 can send the code value to the industrial computer 3 through the second carrier 24 and the first carrier 4.

[0060] Further, when the cable 10 is connected with the second carrier 24 in the differential carrier power supply trolley 2, the cable 10 enters the inside of the trolley body 21 from the rear end of the trolley body 21, so as to be connected with the second carrier 24.

[0061] Further, the differential carrier power supply trolley 2 further comprises a main control board, the main control board is arranged in the inside of the trolley body 21, the second carrier 24 is connected with the main control board through wired communication, the main control board is connected with the drive 22 through wired communication, and the main control board controls the action of the wheels of the differential carrier power supply trolley 2 through the drive 22, including rotating action and rolling action.

[0062] Further, the cable 10 comprises a power supply cable and a communication cable.

[0063] One end of the power cable is connected with the external power supply, and the other end of the power cable is connected with the power supply assembly 25.

[0064] One end of the communication cable is connected with the first carrier 4, and the other end of the communication cable is connected with the second carrier 24.

[0065] By arranging the power cable, one end of the power cable is connected with the external power supply, and the other end of the power cable is connected with the power supply assembly 25, so as to realize power supply for the externally mounted device. By arranging the communication cable, one end of the communication cable is connected with the first carrier 4, and the other end of the communication cable is connected with the second carrier 24, so as to realize communication control of the differential carrier power supply trolley 2 by the industrial computer 3.

[0066] Further, the power supply assembly 25 comprises a power switch 251 and a power socket 252, the power switch 251 is connected with the power cable, and the power socket 252 is connected with the power switch 251.

[0067] The differential carrier power supply trolley 2 further comprises a backup battery 26, and the backup battery 26 is connected with the power switch 251.

[0068] By arranging the power switch 251 and the power socket 252, power supply for the externally mounted device is realized. At the same time, by arranging the backup battery 26, when there is no alternating current output, the power supply mode can be automatically switched to the backup battery 26 for power supply. Under normal circumstances, the differential carrier power supply trolley 2 uses 220V alternating current as the main power supply, and charges the backup battery 26 at the same time.

[0069] Preferably, the power switch 251 is also connected with other device components inside the differential carrier power supply trolley 2, so as to supply power for the other device components inside the differential carrier power supply trolley 2.

[0070] Preferably, the backup battery 26 is arranged inside the trolley body 21, so as to protect the backup battery 26 and ensure power supply safety. The backup battery 26 is a lithium battery, which has the advantages of high power bearing capacity and long service life.

[0071] Specifically, the power switch 251 is arranged inside the trolley body 21, so as to protect the power switch 251 and avoid being affected by the external environment, thereby ensuring power supply safety. The power socket 252 is arranged at the upper end surface of the trolley body 21, so that the plug of the externally mounted device can be inserted into the power socket, thereby facilitating power supply for the externally mounted device.

[0072] Preferably, the differential carrier power supply trolley 2 further comprises an ultrasonic sensor 27 arranged on the front end surface of the trolley body 21 and a bumper 28 arranged on the outer wall of the trolley body 21.

[0073] In order to prevent safety accidents, the ultrasonic sensor 27 arranged on the front end surface of the trolley body 21 is used to detect obstacles in front in advance, so that the differential carrier power supply trolley 2 can stop in time to prevent collision. The ultrasonic sensor 27 can be arranged in multiple. Even if the differential carrier power supply trolley 2 collides with an obstacle, the bumper 28 arranged on the outer wall of the trolley body 21 can play a buffering role to avoid damage to the trolley body 21. Since the obstacle is usually below, the bumper 28 is preferably arranged on the lower part of the trolley body 21 to ensure the protection effect of the trolley body 21.

[0074] Further, the cable tension feedback device 12 is arranged below the wire winding device 11, and the cable tension feedback device 12 comprises a mounting frame 121, a first pulley 122, a first rotating shaft 123, a second pulley 124, a second rotating shaft 125, a swing rod 126 and an angle sensor 127.

[0075] The first rotating shaft 123 is rotatably arranged on the mounting frame 121, and the first pulley 122 is rotatably arranged on the first rotating shaft 123.

[0076] The second pulley 124 is arranged below the first pulley 122, one end of the swing rod 126 is fixedly connected with the first rotating shaft 123, the other end of the swing rod 126 is fixedly connected with the second rotating shaft 125, and the second pulley 124 is rotatably arranged on the second rotating shaft 125.

[0077] The angle sensor 127 is connected to the end of the first rotating shaft 123, and the angle sensor 127 is used to measure the vertical angle of the swing rod 126.

[0078] One end of the swing lever 126 is fixedly connected with the first rotating shaft 123, and the other end of the swing lever 126 is fixedly connected with the second rotating shaft 125. Since the angle sensor 127 is connected to the end of the first rotating shaft 123, when the cable 10 is wound on the first pulley 122 and the second pulley 124, if the second pulley 124 swings back and forth, at this time, the swing lever 126 also swings synchronously, the swing lever 126 drives the first rotating shaft 123 to rotate, and the angle sensor 127 measures the vertical angle of the swing lever 126 (i.e. the angle of the line connecting the first pulley 122 and the second pulley 124 relative to the vertical direction) to detect the tension condition of the cable 10 and determine the tightness of the cable 10.

[0079] Further, the cable 10 is wound on the first pulley 122 and the second pulley 124 in an "S" shape, so that when the tension of the cable 10 changes, the second pulley 124 swings back and forth, at this time, the swing lever 126 also swings synchronously, the swing lever 126 drives the first rotating shaft 123 to rotate, and the angle sensor 127 measures the vertical angle of the swing lever 126 to realize the detection of the tension condition of the cable 10.

[0080] Specifically, the angle sensor 127 is an absolute angle encoder, which can measure the front-back swing angle of the second pulley 124 to quantify the current cable 10 winding and unwinding tightness, and is in wired communication connection with the first carrier 4 to send the tension condition to the industrial computer 3 through the first carrier 4.

[0081] Further, the cable tension feedback device 12 detects the tension condition of the cable 10, the angle sensor 127 feeds back the difference between the output value and the given value of the front-back swing angle, and the PID algorithm adjusts the speed of the winding drum 111 to realize dynamic adjustment of the winding and unwinding speed, thereby ensuring constant tension.

[0082] Preferably, the cable tension feedback device 12 further comprises a position adjusting assembly 128, which comprises a fixed plate 1281 and an elastic element 1282. The fixed plate 1281 is fixedly installed on the mounting bracket 121, one end of the elastic element 1282 is connected with the fixed plate 1281, the other end of the elastic element 1282 is connected with the swing lever 126, the elastic element 1282 is arranged in the front-back direction, and the swing lever 126 is arranged in the up-down direction.

[0083] Since the position of the first pulley 122 is fixed relative to the mounting frame 121, the second pulley 124 can swing back and forth relative to the mounting frame 121, and by arranging the position adjusting assembly 128, under the elastic action of the elastic member 1282, the second pulley 124 can be automatically adjusted in position according to the tensioning condition of the cable 10, specifically, the elastic member 1282 is a spring.

[0084] In the embodiment, the swing rod 126 is provided with two, and the two swing rods 126 are respectively arranged on both sides of the thickness direction of the first pulley 122 and the second pulley 124, and the position adjusting assembly 128 is provided with two, and the two position adjusting assemblies 128 are respectively arranged one-to-one corresponding to the two swing rods 126, effectively improving the swing stability of the second pulley 124.

[0085] Further, the differential speed power supply trolley 2 further comprises a device mounting assembly 29, and the device mounting assembly 29 comprises a first mounting strip 291, at least two second mounting strips 292 and at least two mounting blocks 293.

[0086] The first mounting strip 291 is arranged in the front-rear direction, the second mounting strip 292 is arranged in the left-right direction, and the second mounting strip 292 is slidably arranged on the upper surface of the first mounting strip 291 in the front-rear direction and the left-right direction.

[0087] The mounting block 293 is detachably mounted with a first sliding block 2931 and a second sliding block 2932, the first mounting strip 291 is provided with a first guide rail 2911 in the front-rear direction, the second mounting strip 292 is provided with a second guide rail 2921 in the left-right direction, the first sliding block 2931 is clamped on the first guide rail 2911 and is in sliding connection with the first guide rail 2911, and the second sliding block 2932 is clamped on the second guide rail 2921 and is in sliding connection with the second guide rail 2921.

[0088] By setting the first mounting strip 291 and the second mounting strip 292, since the first slider 2931 is clamped on the first guide rail 2911 and is in sliding connection with the first guide rail 2911, and the second slider 2932 is clamped on the second guide rail 2921 and is in sliding connection with the second guide rail 2921, the position of the second mounting strip 292 on the first mounting strip 291 can be adjusted, for example, the second mounting strip 292 can be pushed to increase the front-to-back distance between the two second mounting strips 292, and after placing the external mounted device, the second mounting strip 292 is pushed to clamp the external mounted device between the two second mounting strips 292, which can adapt to external mounted devices of different sizes and specifications and stably clamp them. The left and right positions of the second mounting strip 292 can also be adjusted to ensure the clamping stability of the external mounted device.

[0089] Specifically, the first slider 2931 and the second slider 2932 can be detachably mounted on the mounting block 293 by bolts and other fasteners. When it is necessary to adjust the position of the second mounting strip 292, the corresponding bolts are loosened, so that the position of the second mounting strip 292 can be adjusted. After adjustment is completed, the bolts are tightened again, so that the first slider 2931 and the second slider 2932 are fixed on the first mounting strip 291 and the second mounting strip 292, respectively.

[0090] In this embodiment, the first mounting strip 291 is provided with two strips, and the second mounting strip 292 is provided with four strips. Each second mounting strip 292 is connected to each first mounting strip 291 by a mounting block 293 to ensure clamping stability.

[0091] Preferably, the wire winding device 11 further comprises a shaft coupling 113, a slip ring 114 and a connecting shaft 115.

[0092] One end of the wire winding drum 111 is connected to the output shaft of the driving device 112, and the other end of the wire winding drum 111 is connected to the connecting shaft 115. The slip ring 114 is sleeved on the connecting shaft 115.

[0093] Specifically, the driving device 112 is a servo motor, which is connected to the wire winding drum 111 through the output shaft of the driving device 112. The connecting shaft 115 drives the wire winding drum 111 to orderly perform the winding and unwinding action of the cable 10, ensuring the stability of the winding and unwinding action of the cable 10.

[0094] The technical principles of the present application are described above in combination with specific embodiments. These descriptions are only for explaining the principles of the present application, and cannot be interpreted as limiting the protection scope of the present application in any way. Based on the explanations herein, other specific embodiments of the present application can be conceived by those skilled in the art without any creative effort, and these embodiments will all fall within the protection scope of the present application.

Claims

1. A cable-powered robot platform, characterized in that, It includes a wire feeder (1), a differential speed transport power supply trolley (2), a first carrier (4) and an industrial control computer (3). The differential speed transport power supply trolley (2) is wiredly connected to the industrial control computer (3) and an external power source through the wire feeder (1). The cable feeder (1) includes a winding device (11) and a cable tension feedback device (12). The winding device (11) includes a winding drum (111) and a driving device (112). The winding drum (111) is used to wind the cable (10). The output end of the driving device (112) is connected to the winding drum (111). The driving device (112) drives the winding drum (111) to rotate to perform the winding and unwinding action of the cable (10). The cable tension feedback device (12) is located between the differential speed transport power supply trolley (2) and the winding device (11). The driving device (112) and the cable tension feedback device (12) are respectively wired to the first carrier (4). The first carrier (4) is wired to the industrial control computer (3). The cable tension feedback device (12) is used to detect the tension of the cable (10) and send the tension status to the industrial control computer (3). The differential transport power supply vehicle (2) includes a vehicle body (21) and a driver (22), radar (23), second carrier (24), power supply assembly (25) and inertial navigation unit disposed on the vehicle body (21). The inertial navigation unit is used to measure the heading angle of the differential transport power supply vehicle (2) and send the heading angle to the industrial control computer (3). The driver (22) is used to drive the movement of the differential transport power supply vehicle (2) and send the encoded value to the industrial control computer (3). The driver (22), inertial navigation unit and radar (23) are respectively wired to the second carrier (24). The power supply assembly (25) is used to supply power to external mounted equipment. The cable (10) includes a power supply cable and a communication cable; one end of the power supply cable is connected to the external power source, and the other end of the power supply cable is wound around the spool (111) and connected in sequence to the cable tension feedback device (12) and the power supply assembly (25); one end of the communication cable is connected to the first carrier (4), and the other end of the communication cable is wound around the spool (111) and connected in sequence to the cable tension feedback device (12) and the second carrier (24); The industrial control computer (3) is used to receive the tension status, the encoding value and the heading angle, and control the operation of the drive device (112) according to the tension status, the encoding value and the heading angle, so as to dynamically control the winding and unwinding speed of the winding drum (111).

2. The cable-powered robot platform according to claim 1, characterized in that, The radar (23) is disposed on the front end face of the vehicle body (21), and the inertial navigation unit is disposed on the rear end face of the radar (23); The radar (23) is used to calculate the real position of the differential speed transport power supply trolley (2) and send the real position to the industrial control computer (3); The industrial control computer (3) is used to receive the real position and control the operation of the driver (22) according to the real position to control the movement direction of the differential transport power supply trolley (2).

3. The cable-powered robot platform according to claim 2, characterized in that, The power supply assembly (25) includes a power switch (251) and a power socket (252). The power switch (251) is connected to the power supply cable, and the power socket (252) is connected to the power switch (251). The differential transport power supply trolley (2) also includes a backup battery (26), which is connected to the power switch (251).

4. The cable-powered robot platform according to claim 1, characterized in that, The differential power supply vehicle (2) also includes an ultrasonic sensor (27) and a crash bar (28). The ultrasonic sensor (27) is located on the front end of the vehicle body (21), and the crash bar (28) is located on the outer wall of the vehicle body (21).

5. The cable-powered robot platform according to claim 1, characterized in that, The cable tension feedback device (12) is located below the cable winding device (11). The cable tension feedback device (12) includes a mounting bracket (121), a first pulley (122), a first rotating shaft (123), a second pulley (124), a second rotating shaft (125), a swing arm (126), and an angle sensor (127). The first rotating shaft (123) is rotatably mounted on the mounting bracket (121), and the first pulley (122) is rotatably mounted on the first rotating shaft (123); The second pulley (124) is disposed below the first pulley (122), one end of the swing rod (126) is fixedly connected to the first rotating shaft (123), the other end of the swing rod (126) is fixedly connected to the second rotating shaft (125), and the second pulley (124) is rotatably disposed on the second rotating shaft (125); The angle sensor (127) is connected to the end of the first rotating shaft (123) and is used to measure the vertical angle of the swing arm (126).

6. The cable-powered robot platform according to claim 5, characterized in that, The cable (10) is wound around the first pulley (122) and the second pulley (124) in an "S"-shaped winding structure.

7. The cable-powered robot platform according to claim 5, characterized in that, The cable tension feedback device (12) further includes a position adjustment component (128), which includes a fixing plate (1281) and an elastic element (1282). The fixing plate (1281) is fixedly installed on the mounting frame (121). One end of the elastic element (1282) is connected to the fixing plate (1281), and the other end of the elastic element (1282) is connected to the swing rod (126). The elastic element (1282) is arranged in the front-back direction, and the swing rod (126) is arranged in the up-down direction.

8. The cable-powered robot platform according to claim 1, characterized in that, The differential speed transport power supply trolley (2) also includes an equipment installation assembly (29), which includes a first mounting strip (291), at least two second mounting strips (292), and at least two mounting blocks (293); The first mounting strip (291) is arranged in the front-back direction, and the second mounting strip (292) is arranged in the left-right direction. The second mounting strip (292) is slidably arranged on the upper surface of the first mounting strip (291) in both the front-back and left-right directions. The mounting block (293) is detachably mounted with a first slider (2931) and a second slider (2932). The first mounting strip (291) is provided with a first guide rail (2911) in the front-back direction, and the second mounting strip (292) is provided with a second guide rail (2921) in the left-right direction. The first slider (2931) is engaged with the first guide rail (2911) and slidably connected to the first guide rail (2911), and the second slider (2932) is engaged with the second guide rail (2921) and slidably connected to the second guide rail (2921).

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