An adaptive terminal obstacle avoidance device for a warehouse-clearing robot

Abstract

An adaptive terminal obstacle avoidance device for a warehouse-clearing robot relates to the technical field of automatic control of coal bunker detection and warehouse-clearing equipment. The present invention solves the problem that the existing warehouse-clearing equipment lacks effective obstacle avoidance, and the equipment and cables are easily damaged, which in turn affects the detection of the temperature of the coal pile and the efficiency of the warehouse-clearing robot. The actuator stabilizing bracket of the present invention is suspended inside the coal bunker by rope traction, and bypasses the cables under the drive of the rope to achieve obstacle avoidance. The hydraulic rotary plate is installed on the lower end surface of the actuator stabilizing bracket, and the oil cylinder is installed at the lower end of the hydraulic rotary plate and rotates under the drive of the hydraulic rotary plate, wherein the telescopic end of the oil cylinder is connected to the slide rail installed on the long straight air pipe, and the long straight air pipe is driven to swing by the telescopic end of the oil cylinder. The long straight air pipe is connected to an external pneumatic system, and the coal bunker is cleared by air blowing. The present invention realizes automatic warehouse-clearing operations in a complex environment where there are multiple suspended temperature measuring cables inside the coal bunker.

Description

Technical Field

[0001] The present invention relates to the field of automatic control technology for coal bunker detection and clearing equipment, and specifically to an adaptive obstacle avoidance rope-driven special robot based on explosion-proof laser radar. It can realize automatic clearing operations in a complex environment where there are multiple suspended temperature measurement cables inside the coal bunker, significantly improving the adaptability and operational safety of rope-driven clearing equipment in a wider range of application scenarios. Background Art

[0002] In the process of coal storage and transportation, coal bunker cleaning is a crucial link to ensure the effective use of the internal space of the coal bunker and the smooth flow of coal. Traditional bunker cleaning operations usually rely on manual or simple mechanical devices, which are not only inefficient but also have high safety risks. With the development of automation technology, automated bunker cleaning equipment has gradually become the preferred solution for the coal industry.

[0003] However, the application of existing automated cleaning equipment in complex environments still faces many challenges. Especially inside the coal bunker, such as Figure 1 As shown in the figure, there are multiple hanging temperature measurement cables, which will cause the following problems:

[0004] (1) Physical obstacles and spatial limitations: The temperature measurement cable directly restricts the movement path of the rope-driven robot, making it unable to freely reach all areas of the coal bunker, resulting in a limited operating range.

[0005] (2) Equipment damage risk: When the rope-driven robot is moving or operating, the cables may become physical obstacles, increasing the risk of collision between the robot and the cables, which may cause cable damage or failure of the rope-driven robot.

[0006] The existing cleaning equipment lacks an effective obstacle avoidance mechanism. These cables not only limit the moving path of the equipment, but are also easily damaged during the measurement process, thereby affecting the detection of coal pile temperature and the efficiency of the cleaning robot's operation, limiting the adaptability and safety of the cleaning equipment in practical applications.

[0007] In summary, the existing warehouse cleaning equipment lacks effective obstacle avoidance, and the equipment and cables are easily damaged, which in turn affects the detection of coal pile temperature and the efficiency of the warehouse cleaning robot operation. Summary of the invention

[0008] The purpose of the present invention is to solve the problem that the existing warehouse cleaning equipment lacks effective obstacle avoidance, and the equipment and cables are easily damaged, which in turn affects the detection of coal pile temperature and the efficiency of warehouse cleaning robot operations, and thus provides an adaptive terminal obstacle avoidance device for a warehouse cleaning robot.

[0009] The technical solution of the present invention is:

[0010] An adaptive terminal obstacle avoidance device for a warehouse-clearing robot comprises an actuator stabilizing bracket, a hydraulic rotary disc, an oil cylinder, a slide rail and a long straight air pipe, wherein the actuator stabilizing bracket is suspended inside a coal bunker by rope traction, and avoids obstacles by bypassing the cables under the drive of the rope, the hydraulic rotary disc is mounted on the lower end surface of the actuator stabilizing bracket, the oil cylinder is mounted on the lower end of the hydraulic rotary disc, and rotates under the drive of the hydraulic rotary disc, wherein the telescopic end of the oil cylinder is connected to the slide rail mounted on the long straight air pipe, and the long straight air pipe is driven to swing by the telescopic end of the oil cylinder, and the long straight air pipe is connected to an external pneumatic system, and coal bunker clearing is achieved by air blowing.

[0011] Furthermore, the actuator stabilizing bracket includes an upper frame, a lower frame and a plurality of connecting ribs. The upper frame and the lower frame are arranged in parallel up and down, and the upper frame and the lower frame are connected by the plurality of connecting ribs.

[0012] Preferably, the upper frame and the lower frame are both rectangular frames and are made of alloy material.

[0013] Furthermore, it also includes a connecting plate body, which is an inverted "convex" shaped connecting plate body formed by bending a long strip of plate.

[0014] Furthermore, a plurality of connection holes are provided on the large-head side horizontal end of the connection plate body, and the connection plate body is connected to the lower end surface of the oil cylinder.

[0015] Furthermore, it also includes an oil cylinder mounting plate, on which the oil cylinder mounting plate is mounted on the small head side of the connecting plate body, and on which the oil cylinder is mounted.

[0016] Preferably, the slide rail is a long linear slide rail and is installed on the lower outer side wall of the long straight air pipe.

[0017] Furthermore, the long straight air pipe comprises a gas outlet and a shell, the gas outlet is inserted into the shell, and the shell is a square shell.

[0018] Further, the lower part of the shell is rotatably mounted on the small head side of the connecting plate body.

[0019] Furthermore, it also includes a sliding block, one end of which is mounted on the telescopic end of the oil cylinder, and the other end of which is slidably mounted on a sliding rail.

[0020] Compared with the prior art, the present invention has the following effects:

[0021] 1. The present invention can intelligently adapt to obstacle avoidance technology:

[0022] The device described in the present invention integrates an explosion-proof laser radar (the explosion-proof laser radar is fixedly installed on the roof of the cylindrical coal bunker to perform point cloud scanning and three-dimensional imaging, and the obstacle avoidance device is suspended inside the coal bunker by rope traction. The obstacle avoidance device realizes obstacle avoidance path planning inside the coal bunker through the three-dimensional imaging obtained by scanning with the explosion-proof laser radar) (the so-called integration refers to the use in conjunction with the explosion-proof laser radar to form a warehouse cleaning robot together), which can perform real-time environmental scanning in the complex environment of the coal bunker, so that the present invention can accurately identify and avoid obstacles, such as temperature measuring cables, so as to safely perform warehouse cleaning tasks without damaging existing facilities. The introduction of the adaptive obstacle avoidance algorithm into the rope-driven warehouse cleaning robot further improves the intelligence level of the rope-driven warehouse cleaning robot, enabling it to dynamically plan the cleaning path and optimize the operation process, and the present invention is a device for performing this automated warehouse cleaning.

[0023] 2. Precise hydraulic rotary table control:

[0024] The hydraulic turntable of the present invention provides the rope-driven cleaning robot with stable rotation and positioning capabilities, ensuring that the cleaning tools of the rope-driven cleaning robot can accurately align and clear the compacted area while avoiding obstacles, which is crucial to improving the cleaning efficiency and reducing damage to the inner wall of the coal bunker.

[0025] 3. Modular and multifunctional long rod device (referring to the long straight air tube 5):

[0026] The design of the long rod device of the present invention takes into account the changing operational requirements inside the coal bunker, and through modular design, it can be quickly replaced or adjusted to adapt to different cleaning tasks.

[0027] The intelligent control system allows operators to remotely monitor the working status of the rope-driven warehouse cleaning robot and intervene when necessary, which not only improves the safety of operation, but also enables the rope-driven robot to play a role in a wider range of application scenarios, especially in areas that are difficult for personnel to reach or where there are safety risks.

[0028] 4. Environmental adaptability and durability:

[0029] The design of the rope-driven warehouse cleaning robot fully considers the harsh environment inside the coal bunker, and adopts dust-proof, waterproof and temperature-resistant materials to ensure its stable operation in an environment with high dust, high humidity and temperature changes. In addition, the modular design of key components and the characteristics of easy disassembly and replacement reduce maintenance costs and time, and improve the durability and reliability of the rope-driven warehouse cleaning robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a schematic diagram of the distribution of temperature measuring cables existing inside the coal bunker in the prior art;

[0031] Figure 2It is a schematic diagram of the overall structure of the present invention;

[0032] Figure 3 It is a structural schematic diagram of the hydraulic rotary disc 2;

[0033] Figure 4 It is a structural schematic diagram of a warehouse cleaning air pipe system, wherein the warehouse cleaning air pipe system includes an oil cylinder 3, a slide rail 4, an oil cylinder mounting plate 7, a slide block 8 and a long straight air pipe 5.

[0034] Among them: 1. Actuator stabilizing bracket, 1-1. Upper frame, 1-2. Lower frame, 1-3. Connecting ribs, 2. Hydraulic rotary plate, 3. Oil cylinder, 4. Slide rail, 5. Long straight air pipe, 5-1. Exhaust bag, 5-2. Outer shell, 6. Connecting plate, 7. Oil cylinder mounting plate, 8. Slider. DETAILED DESCRIPTION

[0035] Specific implementation method 1: Combination Figures 2 to 4 The present embodiment is described, and the present embodiment includes an actuator stabilizing bracket 1, a hydraulic rotary disk 2, an oil cylinder 3, a slide rail 4 and a long straight air pipe 5. The actuator stabilizing bracket 1 is suspended inside the coal bunker by rope traction, and bypasses the cables to avoid obstacles under the drive of the rope. The hydraulic rotary disk 2 is installed on the lower end surface of the actuator stabilizing bracket 1, and the oil cylinder 3 is installed on the lower end of the hydraulic rotary disk 2, and rotates under the drive of the hydraulic rotary disk 2, wherein the telescopic end of the oil cylinder 3 is connected to the slide rail 4 installed on the long straight air pipe 5, and the long straight air pipe 5 is driven to swing by the telescopic end of the oil cylinder 3, and the long straight air pipe 5 is connected to an external pneumatic system to realize coal bunker clearing by air blowing.

[0036] This embodiment can be used in conjunction with a high-precision visual system: the present invention uses an explosion-proof laser radar as the visual source for the path planning of the rope-driven clearing mechanism. While meeting the explosion-proof requirements of the coal bunker equipment, it provides the rope-driven robot with high-precision three-dimensional spatial information to ensure the accuracy of the planned path.

[0037] The adaptive obstacle avoidance structure of the present invention is: the present invention adopts a hybrid drive system of a hydraulic rotary plate and a pneumatic actuator, so that the rope-driven robot has a wider applicability in coal bunker clearing operations, avoids the temperature measuring cable from interfering with the movement of the clearing actuator, and has a higher clearing efficiency.

[0038] The present invention adopts a modular design of the long rod device: the long rod device adopts a modular design, and the length and angle can be quickly adjusted according to the specific conditions inside the coal bunker to adapt to cleaning needs at different heights and angles.

[0039] The hydraulic rotary disk 2 of the present invention is internally integrated with a hydraulic motor and a reduction mechanism. The motor is driven to rotate by the high-pressure oil provided by the hydraulic system, and a stable torque is output after reduction, so as to realize the precise rotation and positioning of the rope-driven bin-clearing actuator in a two-dimensional plane. At the same time, the selection of the hydraulic rotary disk 2 takes into account sufficient strength and rigidity to bear the load at the bottom and maintain stable rotation performance. The hydraulic rotary disk 2 cooperates with the fixed bracket of the oil cylinder 3, the slide rail 4, and the long straight air pipe 5. When the hydraulic rotary disk 2 rotates the bin-clearing actuator to avoid obstacles, the oil cylinder 3 can work at the same time to push the long rod device to remove the coal blocks hanging on the wall.

[0040] Specific implementation method 2: Combination Figure 2 To illustrate this embodiment, the actuator stabilizing bracket 1 of this embodiment includes an upper frame 1-1, a lower frame 1-2 and a plurality of connecting ribs 1-3. The upper frame 1-1 and the lower frame 1-2 are arranged in parallel up and down, and the upper frame 1-1 and the lower frame 1-2 are connected by a plurality of connecting ribs 1-3.

[0041] Such arrangement facilitates connection with the rope drive system and ensures the stability of the present invention during movement. Other components and connection relationships are the same as those of the first specific embodiment.

[0042] The four corners of the upper square of the actuator stabilizing bracket 1 of this embodiment are suspended inside the coal bunker by four high-strength ropes.

[0043] Specific implementation method three: Combination Figure 2 To describe this embodiment, the upper frame 1 - 1 and the lower frame 1 - 2 of this embodiment are both rectangular frames and are made of alloy material.

[0044] With such a configuration, the actuator stabilizing bracket 1 is made of high-strength alloy material, and its geometric accuracy and load capacity are ensured through precision machining. It increases the fixing points for actuators such as hydraulic turntables and cylinders. After the explosion-proof laser radar completes the scan, the data processing terminal will quickly perform three-dimensional modeling and imaging of the environment in the coal bunker (coal piles, compacted coal blocks, temperature measuring cables, and coal bunker bodies). If it is identified that there is a problem of wall hanging and compaction inside the coal bunker, it will automatically analyze and plan the optimal movement route of the bin-clearing actuator, and adjust the rope to achieve the free movement of the actuator stabilizing bracket 1 inside the coal bunker, while avoiding the interference of the temperature measuring cable on the movement of the bin-clearing actuator. Other components and connection relationships are the same as those in specific implementation mode one or two.

[0045] Specific implementation method four: Combination Figure 4 To explain this embodiment, this embodiment further comprises a connecting plate body 6, and the connecting plate body 6 is an inverted "convex" shaped connecting plate body formed by bending a long strip of plate.

[0046] Such a configuration is used to install the oil cylinder 3, provide installation support for the oil cylinder 3, and also connect with the hydraulic rotary disk 2. Driven by the hydraulic rotary disk 2, the warehouse cleaning air pipe system can rotate at any angle. Other components and connection relationships are the same as any one of the specific embodiments 1 to 3.

[0047] Specific implementation method five: Combination Figure 4 To explain this embodiment, a plurality of connection holes 7 are provided on the horizontal end of the large head side of the connection plate body 6 of this embodiment, and the connection plate body 6 is connected to the lower end surface of the oil cylinder 3. In this way, the connection plate body 6 plays a role of connecting the upper part and the lower part, and connects the upper part and the lower part. The other components and connection relationships are the same as any one of the specific embodiments 1 to 4.

[0048] The wall thickness of the connecting plate body 6 in this embodiment is 3-10 mm, so as to ensure the connection strength.

[0049] Specific implementation method six: Combination Figure 4 This embodiment is described, and this embodiment further includes a cylinder mounting plate 7, on which the small end side of the connecting plate body 6 is mounted, and the cylinder 3 is mounted on the cylinder mounting plate 7. This arrangement facilitates fixing the cylinder 3 on the cylinder mounting plate 7 without affecting the movement of the telescopic end of the cylinder 3. Other components and connection relationships are the same as any one of the specific embodiments 1 to 5.

[0050] Specific implementation method seven: Combination Figure 4 To describe this embodiment, the slide rail 4 of this embodiment is a long linear slide rail, and is installed on the lower outer side wall of the long straight air pipe 5.

[0051] In this configuration, it is preferably embedded in the long straight air pipe 5, and in addition, the swinging process of the long straight air pipe 5 is more flexible without dead points. The other components and connection relationships are the same as any one of the specific embodiments 1 to 6.

[0052] The slide rail 4 is mainly used to provide a stable linear motion path for the long rod device of the bin cleaning actuator, ensuring its accurate positioning and efficient operation during the bin cleaning operation. The slide rail adopts high-precision processing technology, and the surface is hardened to improve its wear resistance. The long rod device contacts the slide rail 4 through the sliding block to achieve low-friction linear motion.

[0053] Specific implementation method eight: Combination Figure 4 To explain this embodiment, the long straight air pipe 5 of this embodiment includes a gas outlet 5-1 and a shell 5-2, the gas outlet 5-1 is inserted into the shell 5-2, and the shell 5-2 is a square shell. Such a configuration has a simple structure, is easy to manufacture, and has low cost. Other components and connection relationships are the same as any one of the specific embodiments 1 to 7.

[0054] The long straight air pipe 5 is a key component of the pneumatic system. The long straight air pipe 5 is made of corrosion-resistant and high-pressure resistant materials to ensure stable operation in the harsh environment of the coal bunker. The interior of the long straight air pipe 5 is designed to be smooth to reduce air flow resistance. The air pipe is connected to the pneumatic actuator, and the air flow is adjusted by controlling the opening and closing of the air valve to realize the action of the pneumatic actuator. The pneumatic system has a fast response speed and is suitable for warehouse cleaning operations that require fast actions. Provide the necessary pneumatic power for warehouse cleaning operations.

[0055] Specific implementation method nine: Combination Figure 4 This embodiment is described. The lower portion of the housing 5 - 2 of this embodiment is rotatably mounted on the small head side of the connecting plate body 6 .

[0056] Such arrangement facilitates the long straight air pipe 5 to flexibly swing. Other components and connection relationships are the same as any one of the specific embodiments 1 to 8.

[0057] Specific implementation method ten: Combination Figure 4 To explain this embodiment, this embodiment further comprises a sliding block 8 , one end of which is mounted on the telescopic end of the oil cylinder 3 , and the other end of which is slidably mounted on the slide rail 4 .

[0058] Such arrangement facilitates the cooperation with the slide rail 4. Other components and connection relationships are the same as any one of the specific embodiments 1 to 9.

[0059] The present invention discloses an adaptive obstacle avoidance scheme and device for a rope-driven warehouse cleaning robot. The overall working process is as follows: after the explosion-proof laser radar is initialized, the coal bunker environment is scanned in real time to accurately identify the position of obstacles including temperature measuring cables, and provide the necessary spatial information for the warehouse cleaning actuator to plan the best cleaning path. The hydraulic rotary plate 2 is the core of the rotation and positioning of the warehouse cleaning mechanism. When encountering a temperature measuring cable, it can flexibly adjust the direction of the pneumatic system. When a temperature measuring cable appears in front of the planned path, the hydraulic rotary plate 2 changes the position and adjusts the length of the long straight air pipe 5 of the pneumatic system by cooperating with the long rod device controlled by the oil cylinder 3, so that the rope-driven robot can achieve adaptive obstacle avoidance in the presence of a temperature measuring cable.

[0060] according to Figures 1 to 3 The working principle of the present invention is described:

[0061] The obstacle avoidance scheme and device described in the present invention are particularly suitable for realizing a larger range of warehouse clearing operations of the rope-driven robot without destroying the existing structure (such as temperature measuring cables) when there are space-interfering objects inside a large warehouse.

[0062] Before the operation begins, the explosion-proof laser radar system conducts a comprehensive environmental scan inside the large warehouse to collect accurate data on obstacles such as material piles, temperature measurement cables, support structures, etc. The intelligent control system uses this data for path planning and automatically calculates an optimal path to avoid obstacles, ensuring that the rope-driven robot can safely perform warehouse clearance operations.

[0063] During the clearance process, the explosion-proof laser radar monitors changes in the surrounding environment in real time. Once a potential collision risk is detected, the control system immediately adjusts the actuator's movement path and the posture of the cleaning tool to avoid contact with obstacles, ensuring its flexibility and safety in complex environments.

[0064] For compacted materials of different heights and angles, the system's modular long rod device can be quickly replaced or adjusted as needed to ensure the effectiveness of the cleaning tool. After avoiding obstacles and locating the compacted area, the robot delivers compressed air to pneumatic actuators, such as pneumatic shovels or purges, through long straight air pipes for precise cleaning operations.

[0065] During the entire cleaning process, the operator can observe the robot's working status in real time through the remote monitoring system and make necessary interventions through the operation interface. This remote operation method improves the safety of the operation, especially when the internal environment of the coal bunker is harsh or there are potential dangers.

[0066] After the clearing operation is completed, the robot automatically conducts a comprehensive environmental scan to confirm that all compacted areas have been cleared. Subsequently, the control system generates a detailed operation report, including operation time, amount of coal cleared, obstacles encountered, etc., and sends it to the operator via a wireless network to provide data support for subsequent coal bunker management.

[0067] Through these innovative implementations, the rope-driven bin-clearing robot of the present invention not only improves the efficiency and safety of bin-clearing operations, but also provides strong support for the automation and intelligent development of the coal industry.

[0068] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An adaptive terminal obstacle avoidance device for a warehouse clearing robot, characterized in that: It includes an actuator stabilizing bracket (1), a hydraulic rotary plate (2), an oil cylinder (3), a slide rail (4) and a long straight air pipe (5). The actuator stabilizing bracket (1) is suspended inside the coal bunker by rope traction, and avoids obstacles by bypassing the cables under the drive of the rope. The hydraulic rotary disk (2) is installed on the lower end surface of the actuator stabilizing bracket (1). The oil cylinder (3) is installed at the lower end of the hydraulic rotary disk (2) and rotates under the drive of the hydraulic rotary disk (2). The telescopic end of the oil cylinder (3) is connected to a slide rail (4) installed on a long straight air pipe (5). The telescopic end of the oil cylinder (3) drives the long straight air pipe (5) to swing. The long straight air pipe (5) is connected to an external pneumatic system to achieve coal bunker clearing by air blowing.

2. The adaptive terminal obstacle avoidance device for a warehouse clearing robot according to claim 1, characterized in that: The actuator stabilizing bracket (1) comprises an upper frame (1-1), a lower frame (1-2) and a plurality of connecting ribs (1-3); the upper frame (1-1) and the lower frame (1-2) are arranged in parallel up and down, and the upper frame (1-1) and the lower frame (1-2) are connected via the plurality of connecting ribs (1-3).

3. The adaptive terminal obstacle avoidance device for a warehouse clearing robot according to claim 2, characterized in that: The upper frame (1-1) and the lower frame (1-2) are both rectangular frames and are made of alloy material.

4. The adaptive terminal obstacle avoidance device for a warehouse clearing robot according to claim 3, characterized in that: It also comprises a connecting plate body (6), which is an inverted "convex" shaped connecting plate body formed by bending a long strip of plate.

5. The adaptive terminal obstacle avoidance device for a warehouse clearing robot according to claim 4, characterized in that: A plurality of connection holes (7) are provided on the large-head side horizontal end of the connection plate body (6), and the connection plate body (6) is connected to the lower end surface of the oil cylinder (3).

6. The adaptive terminal obstacle avoidance device for a warehouse clearing robot according to claim 5, characterized in that: It also comprises an oil cylinder mounting plate (7), the oil cylinder mounting plate (7) is mounted on the small head side of the connecting plate body (6), and the oil cylinder (3) is mounted on the oil cylinder mounting plate (7).

7. The adaptive terminal obstacle avoidance device for a warehouse clearing robot according to claim 6, characterized in that: The slide rail (4) is a long linear slide rail and is installed on the lower outer side wall of the long straight air pipe (5).

8. The adaptive terminal obstacle avoidance device for a warehouse clearing robot according to claim 7, characterized in that: The long straight air pipe (5) comprises an air outlet tube (5-1) and an outer shell (5-2); the air outlet tube (5-1) is inserted into the outer shell (5-2), and the outer shell (5-2) is a square outer shell.

9. The adaptive terminal obstacle avoidance device for a warehouse clearing robot according to claim 8, characterized in that: The lower part of the housing (5-2) is rotatably mounted on the small head side of the connecting plate body (6).

10. The adaptive terminal obstacle avoidance device for a warehouse clearing robot according to claim 9, characterized in that: It also includes a slide block (8), one end of which is mounted on the telescopic end of the oil cylinder (3), and the other end of which is slidably mounted on the slide rail (4).

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