Robot for covering storage yard with tarpaulin

Abstract

The invention relates to the technical field of storage yard tarpaulin covering, and particularly discloses a storage yard tarpaulin covering robot which comprises a walking mechanism, and an anchoring mechanism is arranged at one end of the walking mechanism; the anchoring mechanism is used for fixing the position of the walking mechanism; a traction mechanism is fixedly arranged at the other end of the walking mechanism; the traction mechanism is used for pulling the tarpaulin; and a remote control mechanism is arranged on the walking mechanism. Compared with the prior art, the remote controller is used for controlling the walking mechanism to walk, the traction mechanism is used for pulling the tarpaulin through the rope, the tarpaulin is directly attached to and covers goods in a storage yard, the space between the tarpaulin and the goods is reduced, the probability that the tarpaulin is blown up by strong wind is reduced, and a support or a driving arm is avoided; the anchoring mechanism can fix the walking mechanism on goods in a storage yard, so that the tarpaulin is prevented from being pulled backwards under the action of gravity; and the action of the anchoring mechanism is controlled through the cargo softness monitored by the monitoring assembly, so that firm anchoring is ensured.

Description

Technical Field

[0001] The invention relates to the technical field of yard tarpaulin coverings, and in particular discloses a robot for yard tarpaulin coverings. Background Art

[0002] Port yards, as an important part of ports, are mainly used for temporary storage and stacking of goods and containers. These yards are usually located in the port area to facilitate the loading, unloading, transshipment and distribution of goods. Port yard tarpaulins are an important protective measure in port operations, mainly used to prevent goods from being damaged by natural factors such as wind, rain and sun. Goods exposed to the outside for a long time are prone to damage. The use of tarpaulins can reduce the cost of repair and replacement caused by damaged goods.

[0003] Existing tarpaulin covering devices, such as a tarpaulin covering and collecting device disclosed in patent publication number CN112208431B, include a bracket and a tarpaulin reel; and also include a covering member arranged on the bracket, the covering member moves along the bracket, and the tarpaulin reel is arranged on the covering member. There is also a foldable tarpaulin top cover active arm structure disclosed in patent publication number CN113815664B, in which the chains on both sides of the carriage rotate synchronously to drive the first active arm assembly and the second active arm assembly to move toward or away from each other, drive a pair of tarpaulin top covers to move toward or away from each other to close or open the carriage, and the gear lever can be blocked by the block to rotate the first frame assembly and the second frame assembly.

[0004] However, although the above-mentioned prior arts have solved the safety problems of manually covering tarpaulins, in the face of the high height of the port yard and the mixed storage of dry bulk cargo, it is necessary to set up a larger bracket or active arm, which is costly. In addition, when facing the wind in the port, the tarpaulin covered by the above solution cannot fit the cargo, resulting in the failure of the tarpaulin. Summary of the invention

[0005] In view of the above-mentioned deficiencies in the prior art, the present invention provides a robot for covering a tarpaulin in a storage yard to solve the problem that when faced with the high height of the port yard and the mixed storage of dry and bulk cargoes, a larger bracket or active arm needs to be set up, which is costly; and when faced with strong winds in the port, the tarpaulin covered by the above solution cannot fit the cargo, resulting in failure of the tarpaulin.

[0006] To achieve the above object, the technical solution of the present invention is: A robot for covering a tarpaulin in a yard comprises a walking mechanism, one end of which is provided with an anchoring mechanism; the anchoring mechanism is used to fix the position of the walking mechanism; the other end of the walking mechanism is fixedly provided with a pulling mechanism; the pulling mechanism is used to pull the tarpaulin; a remote control mechanism is provided on the walking mechanism; the remote control mechanism comprises a controller; the controller is electrically connected to the walking mechanism, the anchoring mechanism and the pulling mechanism; the controller is also electrically connected to a monitoring component and a remote controller; the monitoring component is used to monitor the environment and the softness of goods in the yard. The walking mechanism is controlled by a remote controller, and the tarpaulin is pulled by a rope by the pulling mechanism, so that the tarpaulin is directly covered on the goods in the yard, reducing the space between the tarpaulin and the goods, reducing the probability of the tarpaulin being blown up by strong winds, and avoiding the setting of a bracket or an active arm; in this process, the anchoring mechanism can fix the walking mechanism on the goods in the yard to prevent the tarpaulin from being pulled back under the action of gravity; and the action of the anchoring mechanism is controlled by the softness of the goods monitored by the monitoring component to ensure that the anchoring is firm.

[0007] Preferably, the monitoring component includes a camera fixedly mounted on the walking mechanism and a pressure sensor fixedly mounted on the anchoring mechanism; the camera and the pressure sensor are both electrically connected to the controller; the controller includes a signal transceiver module; the signal transceiver module is connected to a remote controller; and a display screen is provided on the remote controller. The camera is used to monitor the environment of the robot for covering the tarpaulin in the yard and the environment is displayed on the display screen of the remote controller; the pressure value between the anchoring mechanism and the cargo monitored by the pressure sensor is used to control the action of the anchoring mechanism.

[0008] Preferably, the walking mechanism includes a vehicle body; guide wheels are rotatably arranged on both sides of one end of the vehicle body; the guide wheels are connected to driving wheels through tracks; the driving wheels are arranged at the other end of the vehicle body; supporting wheels and a plurality of supporting wheels are arranged on both sides of the vehicle body in coordination with the tracks; the anchoring mechanism, the remote control mechanism and the pulling mechanism are all arranged on the vehicle body; a battery is arranged on the vehicle body; and the driving wheel is electrically connected to the battery.

[0009] Preferably, the anchoring mechanism includes two rocker arms arranged at intervals, and the two rocker arms are arranged in parallel; one end of the rocker arm is hinged on the vehicle body and hinged on one side of the guide wheel; a fixing frame is fixedly arranged at the end of the rocker arm away from the vehicle body; an anchor plate is fixedly arranged on the fixing frame; a pressure sensor is fixedly arranged on the anchor plate; a hydraulic cylinder is arranged between the fixing frame and the vehicle body; the hydraulic cylinder is connected to a hydraulic station; and the hydraulic station is arranged on the vehicle body. The anchor plate is inserted into the cargo room, and the pressure value between the anchor plate and the cargo is monitored by the pressure sensor. When the pressure is low, the remote controller is used to control the hydraulic cylinder to drive the anchor plate to be inserted deeper into the cargo room.

[0010] Preferably, the rocker arm is arranged in an L-shape as a whole; the fixing frame includes a connecting plate fixedly arranged at the end of the rocker arm; a plurality of connecting rods are fixedly arranged between the connecting plates arranged at the two rocker arms; a mounting plate is fixedly arranged at the lower end of the connecting plate; the cylinder body of the hydraulic cylinder is hinged on the vehicle body, and the output end of the hydraulic cylinder is hinged on the mounting plate. The hydraulic cylinder is used to drive the anchor plate to move.

[0011] Preferably, an anchor plate is fixedly arranged on the outer side of the mounting plate; and a pressure sensor is arranged in the middle of the outer side of the anchor plate.

[0012] Preferably, a vehicle cover is provided on the vehicle body; the camera is provided on the vehicle cover; a hydraulic station, a controller, a pulling mechanism and a battery are provided inside the vehicle cover. The provision of the vehicle cover can protect the hydraulic station, the controller, the battery and the pulling mechanism.

[0013] Preferably, a groove is provided on the vehicle body; the groove is provided on one end of the vehicle body away from the anchoring mechanism; and a pulling mechanism is provided in the groove to facilitate the action of the pulling mechanism.

[0014] Preferably, the pulling mechanism comprises a bracket; a cable shaft is rotatably arranged on the bracket; the cable shaft is connected to a motor reducer; the motor reducer is fixedly arranged on the bracket; a rope is wound on the cable shaft. The motor reducer is used to drive the cable shaft to rotate, and the tarpaulin is pulled by the rope.

[0015] Preferably, the cross section of the bracket is in an inverted concave shape; and the cable shaft is arranged on the inner side of the bracket.

[0016] The beneficial effects of the present invention are as follows: the walking mechanism is controlled to walk by a remote control, and the tarpaulin is pulled by a pulling mechanism through a rope to directly cover the tarpaulin on the cargo in the yard, thereby reducing the space between the tarpaulin and the cargo, reducing the probability of the tarpaulin being blown up by strong winds, and avoiding the setting of a bracket or an active arm; in this process, the anchoring mechanism can fix the walking mechanism on the cargo in the yard to prevent the tarpaulin from being pulled back under the action of gravity; and the softness of the cargo is monitored by the monitoring component to control the action of the anchoring mechanism to ensure that the anchoring is firm. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 It is a structural schematic diagram of the present invention; Figure 2 This is a schematic diagram of the structure of the anchoring mechanism of the present invention without the hydraulic cylinder; Figure 3 It is a schematic diagram of the pulling mechanism structure of the present invention.

[0019] Description of reference numerals: 1. Guide wheel; 2. Support wheel; 3. Support wheel; 4. Drive wheel; 5. Vehicle cover; 6. Rocker arm; 7. Hydraulic cylinder; 8. Anchor plate; 9. Pressure sensor; 10. Fixed frame; 11. Hydraulic station; 12. Controller; 13. Battery; 14. Motor reducer; 15. Bracket; 16. Cable shaft; 17. Groove; 18. Camera; 19. Track; 1001-Connecting plate, 1002-Connecting rod, 1003-Mounting plate. DETAILED DESCRIPTION

[0020] In order to enable those skilled in the art to better understand the technical solutions in the present invention, 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 only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0021] like Figure 1-3As shown, a robot for covering tarpaulins in a yard includes a walking mechanism, which includes a vehicle body; guide wheels 1 are rotatably arranged on both sides of one end of the vehicle body; the guide wheels 1 are connected to driving wheels 4 through tracks 19; the driving wheels 4 are arranged at the other end of the vehicle body; supporting wheels 3 and a plurality of supporting wheels 2 are arranged on both sides of the vehicle body in coordination with the tracks; the anchoring mechanism, the remote control mechanism and the pulling mechanism are all arranged on the vehicle body; a battery 13 is arranged on the vehicle body; the driving wheel 4 is electrically connected to the battery 13, and the battery 13 can also provide power for the robot for covering tarpaulins in the yard. An anchoring mechanism is arranged at one end of the walking mechanism; the anchoring mechanism is used to fix the position of the walking mechanism; a pulling mechanism is fixedly arranged at the other end of the walking mechanism; the pulling mechanism is used to pull the tarpaulin; a remote control mechanism is arranged on the walking mechanism; the remote control mechanism includes a controller 12; the controller 12 is electrically connected to the walking mechanism, the anchoring mechanism and the pulling mechanism; the controller 12 is also electrically connected to a monitoring component and a remote controller; the monitoring component is used to monitor the environment and the softness of the goods in the yard. The walking mechanism is controlled by a remote control, and the tarpaulin is pulled by a pulling mechanism through a rope to directly cover the tarpaulin on the yard goods, which reduces the space between the tarpaulin and the goods, reduces the probability of the tarpaulin being blown up by strong winds, and avoids the setting of brackets or active arms; in this process, the anchoring mechanism can fix the walking mechanism on the yard goods to prevent the tarpaulin from being pulled back under the action of gravity; and the softness of the goods monitored by the monitoring component is used to control the action of the anchoring mechanism to ensure that the anchoring is firm. The monitoring component includes a camera 18 fixedly set on the walking mechanism and a pressure sensor 9 fixedly set on the anchoring mechanism; the camera 18 and the pressure sensor 9 are both electrically connected to the controller 12; the controller 12 includes a signal transceiver module; the signal transceiver module is connected to the remote control; and a display screen is set on the remote control. The camera 18 is used to monitor the environment of the robot for covering the yard with tarpaulin, and it is displayed on the remote control display screen; the pressure value between the anchoring mechanism and the goods is monitored by the pressure sensor 9 and displayed on the remote control display screen to control the action of the anchoring mechanism.

[0022] In the above arrangement, the anchoring mechanism includes two rocker arms 6 arranged at intervals, and the two rocker arms 6 are arranged in parallel; one end of the rocker arm 6 is hinged on the vehicle body and hinged on one side of the guide wheel 1; a fixing frame 10 is fixedly arranged at the end of the rocker arm 6 away from the vehicle body; an anchor plate 8 is fixedly arranged on the fixing frame 10; a pressure sensor 9 is fixedly arranged on the anchor plate 8; a hydraulic cylinder 7 is arranged between the fixing frame 10 and the vehicle body; the hydraulic cylinder 7 is connected to a hydraulic station 11; and the hydraulic station 11 is arranged on the vehicle body. The anchor plate 8 is inserted into the cargo room, and the pressure value between the anchor plate and the cargo is monitored by the pressure sensor 9. When the pressure is low, the remote controller is used to control the hydraulic cylinder 7 to drive the anchor plate 8 to be inserted deeper into the cargo room. The rocker arm 6 is arranged in an L-shape as a whole; the fixing frame 10 includes a connecting plate 1001 fixedly arranged at the end of the rocker arm 6; two connecting rods 1002 are fixedly arranged between the connecting plates 1001 arranged at the two rocker arms 6; a mounting plate 1003 is fixedly arranged at the lower end of the connecting plate 1001; the cylinder body of the hydraulic oil cylinder 7 is hinged on the vehicle body, and the output end of the hydraulic oil cylinder 7 is hinged on the mounting plate 1003. The hydraulic oil cylinder 7 is used to drive the anchor plate 8 to move. The anchor plate 8 is fixedly arranged on the outer side of the mounting plate 1003; a pressure sensor 9 is arranged in the middle part of the outer side of the anchor plate 8. A vehicle cover 5 is arranged on the vehicle body; a camera 18 is arranged on the vehicle cover 5; a hydraulic station 11, a controller 12, a battery 13 and a pulling mechanism are arranged in the vehicle cover 5. The arrangement of the vehicle cover 5 can protect the hydraulic station 11, the controller 12, the battery 13 and the pulling mechanism.

[0023] In other alternative embodiments, the anchoring mechanism includes two hydraulic cylinders, the cylinder bodies of the hydraulic cylinders are arranged on the vehicle body, and a pressure sensor 9 is arranged at the output end of the hydraulic cylinders.

[0024] The vehicle body is provided with a groove 17; the groove 17 is provided at one end of the vehicle body away from the anchoring mechanism; a pulling mechanism is provided in the groove 17 to facilitate the action of the pulling mechanism. The pulling mechanism includes a bracket 15; a cable shaft 16 is rotatably provided on the bracket 15; the cable shaft 16 is connected to a motor reducer 14; the motor reducer 14 is fixedly provided on the bracket 15; a rope is wound on the cable shaft 16. The motor reducer 14 is used to drive the cable shaft 16 to rotate, and the tarpaulin is pulled by the rope. The cross section of the bracket 15 is provided in an inverted concave shape; the cable shaft 16 is provided inside the bracket 15.

[0025] When in use, multiple tarpaulins are placed along the edge of the cargo pile, and multiple robots for covering tarpaulins are placed at the top of the cargo pile and near the middle of the cargo inside. The pulling mechanism uses a rope to pull the edge of the tarpaulin, and then the anchoring mechanism is activated to insert the anchor plate 8 into the cargo gap, and then the pulling mechanism is activated to pull the tarpaulin up to cover the top of the cargo pile; when pulling, several robots for covering tarpaulins are used to pull the same tarpaulin, and several tarpaulins are covered on the cargo pile in turn, and the tarpaulins on the top of the cargo pile are stacked on each other to ensure the coverage of the cargo pile; the robot for covering tarpaulins uses a walking mechanism to move on the top of the cargo pile, and after covering the top of the cargo pile with the tarpaulin, it uses the walking mechanism to walk on the tarpaulin, and then uses the anchor plate 8 of the anchoring mechanism to insert the tarpaulin into the cargo gap, thereby increasing the firmness of the tarpaulin covering and being able to resist greater wind force. It avoids the safety problems caused by manually covering the tarpaulin, avoids the setting of a larger bracket or active arm, ensures the fit between the tarpaulin and the cargo, and reduces the damage to the cargo.

[0026] Although the present invention has been described in detail by referring to the accompanying drawings and in combination with the preferred embodiments, the present invention is not limited thereto. Without departing from the spirit and essence of the present invention, a person of ordinary skill in the art may make various equivalent modifications or substitutions to the embodiments of the present invention, and these modifications or substitutions shall be within the scope of the present invention. Any person of ordinary skill in the art may easily think of changes or substitutions within the technical scope disclosed by the present invention, and these shall be within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be subject to the scope of protection of the claims.

Claims

1. A robot for covering a tarpaulin in a yard, comprising a walking mechanism, characterized in that: An anchoring mechanism is arranged at one end of the walking mechanism; the anchoring mechanism is used to fix the position of the walking mechanism; a pulling mechanism is fixedly arranged at the other end of the walking mechanism; the pulling mechanism is used to pull the tarpaulin; a remote control mechanism is arranged on the walking mechanism; the remote control mechanism includes a controller (12); the controller (12) is electrically connected to the walking mechanism, the anchoring mechanism and the pulling mechanism; the controller (12) is also electrically connected to a monitoring component and a remote controller; the monitoring component is used to monitor the environment and the softness of the goods in the yard.

2. The robot for yard cover tarpaulin according to claim 1, characterized in that: The monitoring component comprises a camera (18) fixedly arranged on the walking mechanism and a pressure sensor (9) fixedly arranged on the anchoring mechanism; the camera (18) and the pressure sensor (9) are both electrically connected to a controller (12); the controller (12) comprises a signal transceiver module; the signal transceiver module is connected to a remote controller; and a display screen is provided on the remote controller.

3. The robot for yard cover tarpaulin according to claim 2, characterized in that: The walking mechanism comprises a vehicle body; guide wheels (1) are rotatably arranged on both sides of one end of the vehicle body; the guide wheels (1) are connected to drive wheels (4) via tracks (19); the drive wheels (4) are arranged at the other end of the vehicle body; supporting wheels (3) and a plurality of supporting wheels (2) are arranged on both sides of the vehicle body in coordination with the tracks; an anchoring mechanism, a remote control mechanism and a pulling mechanism are all arranged on the vehicle body; a battery (13) is arranged on the vehicle body; and the drive wheels (4) are electrically connected to the battery (13).

4. The robot for yard cover tarpaulin according to claim 3, characterized in that: The anchoring mechanism comprises two rocker arms (6) arranged at intervals, the two rocker arms (6) being arranged in parallel; one end of the rocker arm (6) is hinged on the vehicle body and is hinged on one side of the guide wheel (1); a fixing frame (10) is fixedly arranged on the end of the rocker arm (6) away from the vehicle body; an anchor plate (8) is fixedly arranged on the fixing frame (10); a pressure sensor (9) is fixedly arranged on the anchor plate (8); a hydraulic cylinder (7) is arranged between the fixing frame (10) and the vehicle body; the hydraulic cylinder (7) is connected to a hydraulic station (11); and the hydraulic station (11) is arranged on the vehicle body.

5. The robot for yard cover tarpaulin according to claim 4, characterized in that: The rocker arm (6) is arranged in an L-shape as a whole; the fixing frame (10) comprises a connecting plate (1001) fixedly arranged at the end of the rocker arm (6); a plurality of connecting rods (1002) are fixedly arranged between the connecting plates (1001) provided at two rocker arms (6); a mounting plate (1003) is fixedly arranged at the lower end of the connecting plate (1001); the cylinder body of the hydraulic cylinder (7) is hinged on the vehicle body, and the output end of the hydraulic cylinder (7) is hinged on the mounting plate (1003).

6. The robot for yard cover tarpaulin according to claim 5, characterized in that: An anchor plate (8) is fixedly arranged on the outside of the mounting plate (1003); a pressure sensor (9) is arranged in the middle of the outside of the anchor plate (8).

7. The robot for covering a tarpaulin in a storage yard according to claim 6, characterized in that: A vehicle cover (5) is arranged on the vehicle body; a camera (18) is arranged on the vehicle cover (5); and a hydraulic station (11), a controller (12), a pulling mechanism and a battery (13) are arranged inside the vehicle cover (5).

8. The robot for yard cover tarpaulin according to claim 7, characterized in that: A groove (17) is provided on the vehicle body; the groove (17) is provided on an end of the vehicle body away from the anchoring mechanism; and a pulling mechanism is provided in the groove (17).

9. The robot for yard cover tarpaulin according to claim 8, characterized in that: The pulling mechanism comprises a bracket (15); a cable shaft (16) is rotatably arranged on the bracket (15); the cable shaft (16) is connected to a motor reducer (14); the motor reducer (14) is fixedly arranged on the bracket (15); and a rope is wound around the cable shaft (16).

10. The robot for yard cover tarpaulin according to claim 9, characterized in that: The cross section of the bracket (15) is arranged in an inverted concave shape; and the cable shaft (16) is arranged on the inner side of the bracket (15).

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