Collecting and unloading type power generation robot

Abstract

The invention discloses a centralized unloading type power generation robot which comprises a mute box type diesel generator set and further comprises at least two sets of lifting supporting rod assemblies, and the lifting supporting rod assemblies are arranged on the two sides of the mute box type diesel generator set so as to lift the mute box type diesel generator set in the loading and unloading process. According to the centralized unloading type power generation robot, by arranging the lifting supporting rod assembly, the problem that a traditional generator set loading and unloading vehicle depends on hoisting equipment is solved, automatic lifting and unloading of the loading and unloading vehicle can be achieved in the environment without the hoisting equipment, the transportation efficiency is improved, the transportation cost is reduced, and it is ensured that the equipment can be rapidly transferred to the needed place to be put into use.

Description

Technical Field

[0001] The present invention relates to the field of emergency power supply equipment. More specifically, the present invention relates to a detachable power generation robot. Background Art

[0002] In many operating scenarios without grid power supply or fixed usage locations, such as mining, highway and bridge construction, railway construction, wilderness exploration, construction sites, and road maintenance, stable and reliable emergency power supply equipment plays a crucial role. Diesel generator sets have become the commonly used backup power sources in these places due to their economic, durable, and high-reliability characteristics.

[0003] Although traditional silent box-type diesel generator sets perform well in sound insulation and rain protection, they have serious problems in transportation. Their large volume makes it necessary to rely on special lifting equipment to complete the loading and unloading operations when the emergency operation needs to be transferred. In the wild operation environment, lifting equipment is often difficult to find, which not only greatly increases the transportation cost but also often causes the power generation equipment to be unable to be put into use in time, seriously affecting the project progress and operation efficiency, and bringing many inconveniences and economic losses to related production activities. Therefore, developing a power generation equipment that is convenient for loading, unloading, and transportation has become an urgent technical problem to be solved. Summary of the Invention

[0004] One object of the present invention is to solve at least the above problems and provide at least the advantages described later.

[0005] Another object of the present invention is to provide a detachable power generation robot, which can solve the problems that the traditional silent box-type diesel generator set is large in volume and heavy in weight, and needs to rely on lifting equipment for loading and unloading when transferring in emergency operations, while it is difficult to obtain lifting equipment in the wild operation, resulting in difficult transportation, high cost, and affecting the timely transfer and use of the equipment.

[0006] To achieve these objects and other advantages of the present invention, a detachable power generation robot is provided, including a silent box-type diesel generator set, and further including: At least two sets of lifting support rod assemblies, which are arranged on both sides of the silent box-type diesel generator set to lift the silent box-type diesel generator set during the loading and unloading process.

[0007] Preferably, it further includes a folding support caster assembly, which is arranged at the bottom of the silent box-type diesel generator set to support and move the silent box-type diesel generator set during the transfer.

[0008] Preferably, the lifting support rod assembly is 4 sets, which are respectively fixedly connected to the four support columns on the silent box-type diesel generator set.

[0009] Preferably, the lifting support rod assembly includes: A telescopic support structure; A folding structure, which includes an upper connecting rod, a lower connecting rod, and an electric push rod I. One end of the upper connecting rod is hinged to the upper part of the support column, and the other end is hinged to the upper part of the telescopic support structure. One end of the lower connecting rod is hinged to the lower part of the support column, and the other end is hinged to the lower part of the telescopic support structure. One end of the electric push rod I is hinged to the upper middle part of the support column, and the other end of the electric push rod I is hinged to the lower connecting rod so that the movable part of the electric push rod I can extend downward; Among them, when the folding structure needs to be unfolded, the movable part of the electric push rod I extends downward, pushing the lower connecting rod to swing downward. When the lower connecting rod swings downward to the horizontal state, the lower connecting rod is fixed to the support column through the locking structure, and the movable part of the telescopic support structure extends downward to support the silent box type diesel generator set; When the folding structure needs to be folded, the movable part of the electric push rod I contracts, driving the lower connecting rod to swing upward. The lower connecting rod drives the upper connecting rod to swing, and then drives the telescopic support structure to move towards the silent box type diesel generator set.

[0010] Preferably, a long strip through hole is provided in the upper middle part of the support column, one end of the electric push rod I is hinged in the long strip through hole, and a hidden groove is provided on the upper surface of the lower connecting rod; Among them, when the lifting support rod assembly needs to be retracted, the locking structure is opened, the electric push rod I contracts to drive the lower connecting rod to swing upward, the electric push rod I is hidden in the long strip through hole and the hidden groove, and the telescopic support structure is retracted close to the side of the silent box type diesel generator set.

[0011] Preferably, it further includes a connecting part for connecting the upper connecting rod and the lower connecting rod to the support column respectively. The connecting part includes: A support pin seat, which is a connecting plate. The support pin seat is connected to the support column. The upper connecting rod and the lower connecting rod are both hinged to the support pin seat. Guide grooves are provided at the ends of the upper connecting rod and the lower connecting rod along the length direction of the rod. The guide grooves correspond to the support pin seat so that when the upper connecting rod and the lower connecting rod swing, the guide grooves are in guiding cooperation with the support pin seat; A locking structure, which includes an upper locking plate hole, a lower locking plate hole, an upper locking rod hole, a lower locking rod hole, and a locking pin shaft. The upper locking plate hole is provided on the upper support pin seat, the upper locking rod hole is provided on the upper connecting rod, the lower locking plate hole is provided on the lower support pin seat, and the lower locking rod hole is provided on the lower connecting rod; Among them, when the folding mechanism is in the folded state, the upper locking plate hole corresponds to the upper locking rod hole, and the locking pin shaft passes through the upper locking plate hole and the upper locking rod hole; When the folding mechanism is in the open state, the lower locking plate hole corresponds to the lower locking rod hole, and the locking pin shaft penetrates through the lower locking plate hole and the lower locking rod hole.

[0012] Preferably, it further includes a limiting plate, and the limiting plate is arranged on the side of the support pin seat to limit the upward swing angles of the upper connecting rod and the lower connecting rod.

[0013] Preferably, the telescopic support structure includes: A support rod, which is of a hollow structure, and both the upper connecting rod and the lower connecting rod are hinged to the support rod; An electric push rod II, which is installed in the inner cavity of the support rod, and the movable part of the electric push rod II can extend downward from the bottom of the support rod.

[0014] Preferably, the lifting support rod assembly further includes a support foot structure, and the support foot structure includes: Two support plates, an installation plate is arranged on the back of the support plate, and a first installation hole and a second installation hole are respectively arranged at both ends of the installation plate. The installation plates on the left support plate and the right support plate are arranged staggeredly, and a first connecting shaft penetrates through the first installation holes on the two support plates so that the two support plates can be rotatably connected; A linkage structure, which includes two linkage rods, a second connecting shaft and a third connecting shaft. Third installation holes and fourth installation holes are respectively arranged at both ends of the linkage rod. The second connecting shaft penetrates through the second installation hole and the third installation hole so that the linkage rod can rotate relative to the installation plate. The third connecting shaft penetrates through the fourth installation holes on the two linkage rods to hinge the two linkage rods in a V shape. The movable part of the electric push rod II of the lifting support rod assembly is connected to the third connecting shaft.

[0015] Preferably, the lifting support rod assembly further includes: A terrain adaption module, which includes: A multi-modal sensor array, integrated at the bottom of each support foot, including a millimeter-wave radar (77GHz) and a piezoresistive tactile sensor array. The millimeter-wave radar is used to scan the ground elevation in real time and generate a three-dimensional topographic map, and the tactile sensor array is used to monitor the contact pressure distribution between the support foot and the ground; An inertial measurement unit (IMU), used to collect the inclination angle of the device in real time; A distributed controller, which is communicatively connected to the multi-modal sensor array. Based on the topographic map and the pressure distribution data, the telescopic amounts of the four groups of lifting support rods are dynamically adjusted through the distributed controller and an optimization algorithm, so that the height of each support foot can be independently adjusted until the contact pressure deviation of the four feet is less than 5% and the overall inclination angle of the device ≤ 0.2°.

[0016] Preferably, it further includes a guide plate, on which a long strip-shaped guide groove is provided. The bottom of the guide plate is fixedly connected to the first connecting shaft, and the third connecting shaft is slidably sleeved in the long strip-shaped guide groove. The long strip-shaped guide groove is arranged in parallel with the electric push rod II.

[0017] The present invention has at least the following beneficial effects: First, the unloading and loading type power generation robot of the present invention solves the problem that the traditional generator set depends on lifting equipment for loading and unloading vehicles by setting the lifting support rod assembly, and can realize autonomous lifting and loading and unloading of vehicles in an environment without lifting equipment, improving the transportation efficiency, reducing the transportation cost, and ensuring that the equipment can be quickly transferred to the required location for use. Second, the setting of the folding support caster assembly of the present invention facilitates the short-distance movement of the equipment during transfer, enhances the mobility and flexibility of the equipment, and makes the transfer of the equipment between different working sites more convenient and efficient. Third, the design of the long strip-shaped through hole, the hidden groove of the lower connecting rod and the related locking structure on the support column of the present invention enables the lifting support rod assembly to effectively save space when retracted, without affecting the overall layout of the equipment and the normal operation of other functions. Fourth, the guide groove and locking structure of the connecting part of the present invention ensure the stability of the connection between the upper connecting rod, the lower connecting rod and the support column and the accuracy of movement, improving the working performance of the entire lifting support rod assembly. Fifth, the support foot structure of the present invention can contract according to its own weight to reduce the volume and expand according to the weight of the generator set, so that it can provide stable support when expanded. The guide plate provides precise guidance for the movement of the support foot structure, ensuring the smoothness and stability of the support plate during the expansion and retraction process, and preventing deviation.

[0018] Other advantages, objectives and features of the present invention will be partially reflected by the following description and partially understood by those skilled in the art through the research and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic structural diagram of the lifting support rod assembly supporting the silent box type diesel generator set according to a technical solution of the present invention; Figure 2 It is a schematic structural diagram of the folding support caster assembly supporting the silent box type diesel generator set according to a technical solution of the present invention; Figure 3 It is a side view of the lifting support rod assembly supporting the silent box type diesel generator set according to a technical solution of the present invention; Figure 4 It is a schematic unfolded structural diagram of the connection between the lifting support rod assembly and the support column according to a technical solution of the present invention; Figure 5 It is a schematic folded structural diagram of the connection between the lifting support rod assembly and the support column according to a technical solution of the present invention; Figure 6 Schematic diagram of the support leg structure of a technical solution of the present invention when unfolded; Figure 7 Schematic diagram of the support leg structure of a technical solution of the present invention when folded.

[0020] 1. Silent box type diesel generator set; 2. Lifting support rod assembly; 201. Support rod; 202. Electric push rod II; 203. Upper connecting rod; 204. Lower connecting rod; 205. Electric push rod I; 206. Support pin seat; 207. Hidden groove; 208. Long strip through hole; 209. Limiting plate; 3. Folding support caster assembly; 4. Support leg structure; 401. Support plate; 402. Mounting plate; 403. Linking rod; 404. First connecting shaft; 405. Second connecting shaft; 406. Third connecting shaft; 407. Guide plate. Detailed implementation manners

[0021] The following further describes the present invention in detail with reference to the drawings so that those skilled in the art can implement it according to the description in the specification.

[0022] It should be understood that the terms such as "having", "including" and "comprising" used herein do not exclude the existence or addition of one or more other elements or their combinations.

[0023] It should be noted that the experimental methods described in the following embodiments are all conventional methods unless otherwise specified, and the reagents and materials can be obtained from commercial channels unless otherwise specified; in the description of the present invention, it should be noted that unless otherwise clearly defined and limited, the terms "installed", "connected" and "set" should be understood in a broad sense. For example, they can be fixedly connected and set, or detachably connected and set, or integrally connected and set. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations. The orientation or positional relationship indicated by the terms "transverse", "longitudinal", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present invention.

[0024] As Figure 1-7 shown, the present invention provides a self-unloading power generation robot, including a silent box type diesel generator set 1, and further including: At least two groups of lifting support rod assemblies 2, and the lifting support rod assemblies 2 are arranged on both sides of the silent box type diesel generator set 1 to lift the silent box type diesel generator set 1 during the loading and unloading process of the vehicle.

[0025] One end of the lifting support rod assembly 2 is installed at the supporting parts on both sides of the silent box type diesel generator set 1 (such as Cummins C300 D5B silent box type diesel generator set 1) through a connecting structure. The connecting structure can adopt high-strength bolts or welding to firmly connect the lifting support rod assembly 2 with the supporting columns of the generator set. When installing the bolts, use a suitable torque wrench to tighten them according to the specified torque value to ensure the reliability of the connection. At the same time, ensure that the installation positions of each group of lifting support rod assemblies 2 are symmetrical to ensure the smoothness of subsequent lifting operations.

[0026] The silent box is made of high-quality steel plates and filled with sound insulation cotton inside to wrap the engine and generator inside it and prevent the spread of noise. The sound insulation effect can reach more than 75 dB (A), effectively reducing the noise generated during the operation of the generator set and making the noise generated at the operation site meet the relevant environmental standards. The silent box is provided with multiple ventilation openings to ensure sufficient air circulation during the operation of the generator set and meet the heat dissipation requirements of the engine and generator. Replaceable high-efficiency air filters are installed at the ventilation openings to prevent dust and sundries from entering.

[0027] 4 groups of lifting support rod assemblies 2 can be selected, that is, 2 groups of lifting support rod assemblies 2 are installed on each side of the silent box type diesel generator set 1. The lifting support rod assembly 2 can be a Hercules EP-1000 electric push rod. This electric push rod is driven by a DC motor, with a rated voltage of 24 V, a maximum thrust of up to 10 kN, and a stroke of 1.5 meters.

[0028] The usage method of the present invention is as follows: Loading operation: When loading the dump type power generation robot onto a transport vehicle, first park the transport vehicle in a suitable position and ensure that the vehicle is in a horizontal and stable state. Then start the control system of the Hercules EP-1000 type lifting support rod assembly 2, and the operator can operate the electric push rod through the control panel integrated on the robot.

[0029] Press the "rise" button, and the 4 groups of Hercules EP-1000 electric push rods start to extend synchronously, slowly lifting the Cummins C300 D5B silent box type diesel generator set 1 through the lifting support rod assembly 2. During the lifting process, the horizontal state of the silent box type diesel generator set 1 can be monitored in real time through a horizontal sensor (such as Honeywell HMC5883L type horizontal sensor) installed at the bottom of the silent box type diesel generator set 1, and the horizontal sensor feeds back the signal to the control system.

[0030] When a slight tilt of the generator set is detected, the control system will automatically adjust the extension speed of different groups of electric push rods according to the data feedback by the sensors to ensure that the generator set remains horizontal. For example, if the left side is slightly lower, the control system will make the extension speed of the electric push rod on the left side slightly faster until the generator set returns to horizontal.

[0031] When the generator set is lifted to a height about 1.2 meters higher than the height of the carriage of the transport vehicle, it can be confirmed that the transport vehicle has reversed to a suitable position under the generator set through a camera (such as a Hikvision DS-2CD2T47G2-LSU / SL camera) or personnel command.

[0032] The operator presses the "lower" button, and the electric push rod starts to contract, placing the generator set smoothly on the carriage of the transport vehicle. During the placement process, the descent speed can be precisely controlled according to the data of the laser distance sensor (such as a Keyence IL-300 laser distance sensor) installed at the bottom of the generator set to ensure that the distance between the bottom of the generator set and the carriage surface decreases evenly, avoiding tilting or impact.

[0033] Unloading operation: When unloading is required at the destination, after the transport vehicle stops stably, the control system of the lifting support rod assembly 2 is started again, and the "raise" button is pressed to make the electric push rod extend and lift the generator set off the carriage.

[0034] After the generator set completely leaves the carriage, operate the transport vehicle to drive away.

[0035] Press the "lower" button to make the generator set descend smoothly to the ground. During the descent process, it can also be monitored and controlled through the horizontal sensor and the laser distance sensor to ensure that the generator set descends smoothly, and the descent speed does not exceed 0.1 m / s to avoid damage to the generator set caused by too fast speed.

[0036] In another technical solution, it further includes a folding support caster assembly 3, and the folding support caster assembly 3 is arranged at the bottom of the silent box type diesel generator set 1 to support and move the silent box type diesel generator set 1 during transfer. The folding support caster assembly 3 altogether includes 4 groups of casters. The wheels of each group of casters are made of polyurethane material, having good wear resistance and load-bearing capacity. The rated load-bearing capacity of a single caster can reach 500 kg, the diameter is 200 mm, and the wheel width is 80 mm. Such polyurethane wheels can adapt to various different ground conditions, including concrete, asphalt, sand and gravel, etc., and at the same time can reduce the damage to the ground and provide a certain shock absorption effect.

[0037] The hub of the wheel can be made of high-quality steel and is quenched and tempered to enhance its strength and hardness, ensuring reliability when bearing the weight of the generator set and during movement. High-precision bearings are installed inside the wheel to ensure smooth rotation. NSK 6205 deep groove ball bearings are used to reduce friction resistance and noise.

[0038] The bending structure of the caster includes a connecting plate and a connecting head. The connecting head is connected to the caster. The connecting plate is provided with a first connecting hole, a second connecting hole, and a third connecting hole. The first connecting hole, the second connecting hole, and the third connecting hole form a right triangle structure. The connecting head is provided with a connecting groove, a fourth connecting hole, and a fifth connecting hole. The fifth connecting hole is arranged above the fourth connecting hole. When the connecting plate is sleeved in the connecting groove, the fourth connecting hole and the first connecting hole are in opposite positions. A rotating shaft passes through the fourth connecting hole and the first connecting hole so that the connecting head and the connecting plate can be rotatably connected. When the bending structure is in the unfolded state, the fifth connecting hole and the second connecting hole are in opposite positions. A locking shaft passes through the fifth connecting hole and the second connecting hole so that the caster is in a vertical state. At this time, the bottom of the caster is higher than the bottom of the support column, and the caster supports the entire generator set. When the bending structure is in the folded state, the fifth connecting hole and the third connecting hole are in opposite positions. A locking shaft passes through the fifth connecting hole and the third connecting hole so that the caster is in a horizontal state, and the support column supports the entire generator set.

[0039] The locking shaft can be equipped with a manual operating rod. The operating rod can be designed according to ergonomics and has anti-slip patterns on the surface, facilitating the operator to manually operate the folding and unfolding actions of the caster. When the dump-type power generation robot needs to be moved over a short distance, first use the lifting support rod assembly 2 to raise the silent box-type diesel generator set 1 to a certain height. By operating the control system of the lifting support rod assembly 2, the electric push rod extends to raise the generator set by about 300 mm.

[0040] During the raising process, the horizontal state of the generator set can be monitored through a horizontal sensor (Honeywell HMC5883L type) to ensure it is in a horizontal position and avoid tilting.

[0041] When the predetermined height is reached, the operator manually operates the operating rod of the folding support caster assembly 3 to unfold the caster. During the unfolding process, the buffer spring and the hydraulic damper work together to make the unfolding action of the caster smooth and slow, preventing damage to the structure caused by the impact of rapid unfolding. After unfolding, the caster is locked in the unfolded state by manually rotating the lock on the operating rod. The lifting support rod assembly 2 contracts. At this time, the folding support caster assembly 3 supports the silent box-type diesel generator set 1. The silent box-type diesel generator set 1 can be moved to a new working position by using the folding support caster assembly 3.

[0042] After arriving at the new working position, first park the combined unloading and power generation robot in a suitable position, then operate the control system of the lifting support rod assembly 2 to deploy the electric push rod to support the generator set. Manually loosen the lock of the casters, and then operate the caster operating rod to fold up the casters. During the folding process, the buffer spring and the hydraulic damper play a role to ensure the smooth folding action of the casters.

[0043] After the casters are retracted, operate the control system of the lifting support rod assembly 2 to contract the electric push rod, and slowly lower the silent box type diesel generator set 1 until it is stably placed on the ground or the corresponding support platform again. The support columns play a supporting role for the generator set. During the lowering process, the laser distance sensor (such as Keyence IL-300 type) is used to monitor the lowering height to ensure smooth lowering.

[0044] In another technical solution, there are 4 groups of lifting support rod assemblies 2, which are respectively fixedly connected to the four support columns on the silent box type diesel generator set 1. To ensure the firmness of the connection, high-strength bolts and nuts are used to connect the lifting support rod assembly 2 and the support columns, and the pre-tightening force is controlled to ensure firm connection and uniform force.

[0045] In another technical solution, the lifting support rod assembly 2 includes: A telescopic support structure; A folding structure, which includes an upper connecting rod 203, a lower connecting rod 204 and an electric push rod I 205. One end of the upper connecting rod 203 is hinged to the upper part of the support column, and the other end is hinged to the upper part of the telescopic support structure. One end of the lower connecting rod is hinged to the lower part of the support column, and the other end is hinged to the lower part of the telescopic support structure. One end of the electric push rod I 205 is hinged to the upper middle part of the support column, and the other end of the electric push rod I 205 is hinged to the lower connecting rod 204 so that the movable part of the electric push rod I 205 can extend downward; Among them, when the folding structure needs to be deployed, the movable part of the electric push rod I 205 extends downward, pushing the lower connecting rod 204 to swing downward. When the lower connecting rod 204 swings downward to the horizontal state, the lower connecting rod 204 is fixed to the support column through the locking structure, and the movable part of the telescopic support structure extends downward to support the silent box type diesel generator set 1; When the folding structure needs to be folded, the movable part of the electric push rod I 205 contracts, driving the lower connecting rod 204 to swing upward. The lower connecting rod 204 drives the upper connecting rod 203 to swing, and further drives the telescopic support structure to move towards the silent box type diesel generator set 1.

[0046] The telescopic support structure can be a Hercules EP-1000 electric push rod. This electric push rod is driven by a DC motor, with a rated voltage of 24 V, a maximum thrust of up to 10 kN, and a stroke of 1.5 m.

[0047] The upper connecting rod 203 and the lower connecting rod 204 can both be forged and processed from 45# steel. After quenching and tempering treatment, their comprehensive mechanical properties are improved. The size of the connecting rod is a diameter of 30 mm, and the length is designed according to the actual structure. One end of the upper connecting rod 203 and the lower connecting rod 204 are respectively connected to the upper and lower parts of the support column through spherical plain bearings. The spherical plain bearings can adopt the Human Brand bearing UCF205 type. This bearing has good load-bearing capacity and rotational flexibility, can withstand large radial and axial loads, and ensures the flexible rotation of the connecting rod. The other end is connected to the upper and lower ends of the fixed part of the telescopic support structure through the way of flat keys and bushings. The bushings adopt copper alloy bushings. The inner diameter of the bushing is matched with the connecting shaft of the telescopic support structure, and the outer diameter of the bushing is matched with the mounting hole of the connecting rod, ensuring the tightness and reliability of the connection. There is a grease groove inside the bushing, and molybdenum disulfide grease can be added to reduce friction.

[0048] The motor of the electric push rod Ⅰ205 can adopt a permanent magnet DC motor, which has high efficiency and good torque characteristics.

[0049] One end of the electric push rod Ⅰ can be articulated with the middle upper part of the support column through a spherical plain bearing and the Human Brand bearing UCF204 type, and the other end is articulated with the lower connecting rod 204 through a flat key and a spherical plain bearing and the Human Brand bearing UCF203 type, ensuring flexible rotation and reliable connection.

[0050] The control circuit of the electric push rod Ⅰ can be integrated in an independent control box. The control box contains a Siemens S7-1200 series PLC as the control core. By controlling the forward and reverse rotation and speed of the electric push rod Ⅰ, precise stroke control is achieved. The control box has an overload protection function to prevent the electric push rod Ⅰ from being damaged.

[0051] The locking structure adopts a quick-release pin lock, which is made of stainless steel and includes two parts: a locking pin and a locking sleeve. The diameter of the locking pin is 12 mm, and the locking sleeve matches the locking holes on the lower connecting rod 204 and the support column. When it is necessary to lock the lower connecting rod 204, the locking pin is inserted into the locking sleeve to achieve a rigid connection. There is a spring and a ball plunger on the locking sleeve. When the locking pin is inserted, the ball plunger pops out to prevent the locking pin from accidentally coming out, ensuring the reliability of the locking structure.

[0052] In another technical solution, a long strip-shaped through hole 208 is provided in the middle upper part of the support column. One end of the electric push rod Ⅰ205 is articulated in the long strip-shaped through hole 208, and a hidden groove 207 is provided on the upper surface of the lower connecting rod 204; When it is necessary to retract the lifting support rod assembly 2, the locking structure is opened, and the electric push rod I 205 contracts to drive the lower connecting rod 204 to swing upward. The electric push rod I 205 is hidden in the long strip through hole 208 and the hidden groove 207, and the telescopic support structure retracts and closes to the side of the silent box type diesel generator set 1.

[0053] By hiding the electric push rod I in the long strip through hole 208 of the support column and the hidden groove 207 of the lower connecting rod 204, and making the telescopic support structure retract and close to the side of the silent box type diesel generator set 1, the space occupied by the entire lifting support rod assembly 2 when not in use is greatly reduced. This makes the unloading type power generation robot more compact during transportation and storage, facilitating its arrangement on the transport vehicle, reducing the transportation cost, and also facilitating the storage of the equipment in a limited space.

[0054] In another technical solution, it further includes a connecting part for respectively connecting the upper connecting rod 203 and the lower connecting rod 204 to the support column. The connecting part includes: A support pin seat 206, which is a connecting plate. The support pin seat 206 is connected to the support column. Both the upper connecting rod 203 and the lower connecting rod 204 are hinged to the support pin seat 206. Guide grooves are arranged at the ends of the upper connecting rod 203 and the lower connecting rod 204 along the length direction of the rod. The guide grooves correspond to the support pin seat 206 so that when the upper connecting rod 203 and the lower connecting rod 204 swing, the guide grooves are in guiding cooperation with the support pin seat 206; A locking structure, which includes an upper locking plate hole, a lower locking plate hole, an upper locking rod hole, a lower locking rod hole and a locking pin shaft. The upper locking plate hole is arranged on the upper support pin seat 206, the upper locking rod hole is arranged on the upper connecting rod, the lower locking plate hole is arranged on the lower support pin seat 206, and the lower locking rod hole is arranged on the lower connecting rod; Wherein, when the folding mechanism is in a folded state, the upper locking plate hole corresponds to the upper locking rod hole, and the locking pin shaft penetrates through the upper locking plate hole and the upper locking rod hole; When the folding mechanism is in an open state, the lower locking plate hole corresponds to the lower locking rod hole, and the locking pin shaft penetrates through the lower locking plate hole and the lower locking rod hole.

[0055] Guide grooves are arranged at the ends of the upper connecting rod 203 and the lower connecting rod 204 along the length direction of the rod. The width of the guide groove is 20 mm, which is used for guiding cooperation with the support pin seat 206, that is, restricting the swing of the upper connecting rod 203 and the lower connecting rod 204 in the horizontal direction so that they can only swing in the vertical direction. The machining accuracy of the guide groove is controlled within ±0.2 mm to ensure a good guiding effect.

[0056] The guiding grooves at the ends of the upper and lower connecting rods 204 are in guiding fit with the guiding pin seats 206, providing an accurate movement trajectory for the swinging of the upper and lower connecting rods 204, avoiding the offset and swaying of the connecting rods during movement, and improving the stability of the movement of the entire lifting support rod assembly 2. This helps the dump-type power generation robot to operate more smoothly during the loading and unloading of vehicles and the lifting of equipment, reducing potential safety hazards to the equipment and operators caused by the instability of the moving parts.

[0057] The design of the locking structure ensures that when the folding mechanism is in the open state, the upper and lower connecting rods 204 can be firmly locked, preventing the structure from loosening due to external forces or equipment vibrations. Through the precise design of the cooperation between the upper and lower locking plate holes, the upper and lower locking rod holes and the locking pin shaft, the reliability of the locking is significantly improved, ensuring the safety and stability of the equipment during use, and ensuring that the equipment can withstand large loads when supporting the generator set without accidental unlocking.

[0058] In another technical solution, it further includes a limit plate 209, which is arranged on the side of the support pin seat 206 to limit the upward swinging angles of the upper connecting rod 203 and the lower connecting rod 204. The limit plate 209 and the support pin seat 206 are in a cross-shaped structure. By setting the limit plate 209, it can effectively prevent the upper and lower connecting rods 204 from swinging upward excessively beyond their designed movement range, avoiding excessive stress concentration at the connection part and other related connecting components due to excessive swinging, thereby reducing the risk of deformation, damage or failure of these components due to excessive force, extending the service life of the entire lifting support rod assembly 2, and ensuring the integrity of the equipment structure.

[0059] In another technical solution, the telescopic support structure includes: A support rod 201, which is of a hollow structure, and the upper connecting rod 203 and the lower connecting rod 204 are both hinged to the support rod 201; An electric push rod II 202, which is installed in the inner cavity of the support rod 201, and the movable part of the electric push rod II can extend downward from the bottom of the support rod 201.

[0060] The support rod 201 is made of aluminum alloy profile, specifically the 6061-T6 aluminum alloy profile of Zhongwang Group. The outer shape of its hollow structure is a rectangular tube with dimensions of 80 mm × 40 mm × 4 mm. This aluminum alloy profile has good strength and light weight, and is suitable as the main support component of the telescopic support structure, which can reduce the weight of the entire unloading type power generation robot while ensuring the support strength. Its hollow structure provides space for the installation of the electric push rod II 202 on the basis of ensuring strength, and is conducive to the lightweight design of the equipment. The electric push rod II 202 can be the Hercules EP-1000 electric push rod. The electric push rod II 202 is sleeved inside the support rod 201. A reverse U-shaped plate is provided at the top of the support rod 201 to connect the top of the fixed part of the electric push rod II to the bottom of the support rod 201. The bottom of the fixed part of the electric push rod II is fixedly connected to the bottom of the support rod 201 by bolts.

[0061] Both ends of the support rod 201 are hinged to the upper connecting rod 203 and the lower connecting rod 204 through spherical plain bearings, so that the support column, the upper connecting rod 203, the lower connecting rod 204 and the support rod 201 form a four-deformation structure. The spherical plain bearings ensure the flexible rotation between the upper and lower connecting rods 204 and the support rod 201, enabling the entire structure to smoothly expand and fold during the movement process. When installing the spherical plain bearings, it is necessary to ensure the installation accuracy of the bearings, and the clearance between it and the support rod 201 and the connecting rod is controlled within ±0.1 mm to ensure the reliability of the connection and the smoothness of the movement.

[0062] In another technical solution, the lifting support rod assembly 2 further includes a support foot structure 4, and the support foot structure 4 includes: Two support plates 401. An installation plate 402 is provided on the back of the support plate 401. The two ends of the installation plate 402 are respectively provided with a first installation hole and a second installation hole. The installation plates 402 on the left support plate 401 and the right support plate 401 are arranged staggeredly. A first connecting shaft 404 passes through the first installation holes on the two support plates 401 to enable the two support plates 401 to be rotatably connected; A linkage structure, which includes two linkage rods 403, a second connecting shaft 405 and a third connecting shaft 406. The two ends of the linkage rod 403 are respectively provided with a third installation hole and a fourth installation hole. The second connecting shaft 405 passes through the second installation hole and the third installation hole to enable the linkage rod 403 to rotate relative to the installation plate 402. The third connecting shaft 406 passes through the fourth installation holes on the two linkage rods 403 to hinge the two linkage rods 403 in a V shape. The movable part of the electric push rod II of the lifting support rod assembly 2 is connected to the third connecting shaft 406.

[0063] The support plate 401 can be made of high-quality steel plates, specifically the Q345B steel plates produced by Angang Steel, with a thickness of 12 mm and dimensions of 300 mm×200 mm. This kind of steel plate has high strength and toughness, and can bear the weight of the bulk unloading power generation robot and the ground reaction force.

[0064] The back mounting plate 402 of the support plate 401 can be fixed by welding. The mounting plate 402 has dimensions of 200 mm×50 mm×10 mm and is also made of Q345B steel. The diameters of the first mounting hole and the second mounting hole at both ends of the mounting plate 402 are 20 mm, and the machining accuracy of the holes is controlled within ±0.1 mm to ensure the accuracy of subsequent connections. The mounting plate 402 on the left support plate 401 and the mounting plate 402 on the right support plate 401 are arranged staggeredly, and the staggering distance is 10 mm, which is the thickness of the mounting plate 402. This design facilitates the lapping of the mounting plate 402 on the left and the mounting plate 402 on the right, ensuring a stable movement trajectory and a reliable support function during the unfolding and folding processes of the support plate 401.

[0065] The linkage rod 403 is forged from 45# steel. The diameters of the third mounting hole and the fourth mounting hole at both ends of the linkage rod 403 are 16 mm, and the machining accuracy is controlled within ±0.1 mm. The design and machining of the linkage rod 403 should ensure that it has sufficient strength and stiffness to transmit force and torque during the unfolding and folding processes of the support feet without bending or deforming.

[0066] The first connecting shaft 404, the second connecting shaft 405, and the third connecting shaft 406 are all made of 40Cr alloy steel, with a diameter of 20 mm, and the length is determined according to the installation position. The machining accuracy requirements of these connecting shafts are relatively high to ensure the fitting accuracy during installation, making the connections between various components tight and the rotation smooth.

[0067] The design of the two support plates 401 of the support foot structure 4 and the linkage structure enables the support foot to form a stable support surface when unfolded, which can effectively disperse the weight of the bulk unloading power generation robot and avoid sinking or tilting caused by single-point support. Especially on complex terrains such as soft ground and uneven ground, it can provide a more stable and reliable support, ensuring the stability and safety of the bulk unloading power generation robot during operation.

[0068] During the operation of the support leg structure 4, there are mainly two states. When it is not working, the support leg automatically contracts under the action of gravity. That is, the support plate 401 rotates upward and folds with the first connecting shaft 404 as the rotation axis, reducing the volume of the support leg structure 4 to avoid affecting the use of other functions of the machine. When it is working, the support leg contacts the support plane (the ground). Under the action of the self-weight of the generator set, the support plate 401 rotates downward and unfolds to the horizontal state with the first connecting shaft 404 as the rotation axis, forming a large contact area with the support plane to ensure the stability of the machine.

[0069] The mounting plates 402 on the two support plates 401 are staggered, which is an asymmetric design, facilitating the hinging of the two support plates 401 through the mounting plates 402. After the support plate 401 rotates downward to the horizontal state, the ends of the two support plates 401 abut against each other, realizing the self-locking of the two support plates 401 and preventing the support plate 401 from continuing to rotate upward after being horizontally unfolded, reducing the grounding area.

[0070] In another technical solution, it further includes a guide plate 407. The guide plate 407 is provided with a long strip-shaped guide groove. The bottom of the guide plate 407 is fixedly connected to the first connecting shaft 404. The third connecting shaft 406 is slidably sleeved in the long strip-shaped guide groove, and the long strip-shaped guide groove is arranged parallel to the electric push rod II.

[0071] When the expansion or contraction of the support leg structure 4 is blocked under the action of gravity, the support plate 401 may tilt to one side. The guide plate 407 can ensure that the support plate 401 does not shift to one side.

[0072] In another technical solution, the lifting support rod assembly further includes: A terrain adaptation module, which includes: A multi-modal sensor array, integrated at the bottom of each support leg, including a millimeter-wave radar (77GHz) and a piezoresistive tactile sensor array. The millimeter-wave radar is used to scan the ground elevation in real time and generate a three-dimensional topographic map. The tactile sensor array is used to monitor the contact pressure distribution between the support leg and the ground; An inertial measurement unit (IMU), used to collect the inclination angle of the device in real time; A distributed controller, communicatively connected to the multi-modal sensor array. Based on the topographic map and pressure distribution data, the telescopic amounts of the four groups of lifting support rods are dynamically adjusted through the distributed controller and an optimization algorithm, enabling the independent adjustment of the height of each support leg until the contact pressure deviation of the four feet is less than 5% and the overall inclination angle of the device ≤ 0.2°; An adaptive toothed ground-gripping structure, with retractable titanium alloy spikes installed on the edge of the support plate, with a length of 0 - 50 mm. The extension and retraction are controlled by a solenoid valve, and the surface of the spikes is hardened.

[0073] This technical solution realizes the independent and rapid leveling of four groups of lifting support rods through real-time terrain scanning, dynamic pressure feedback, distributed controllers, and optimization algorithms, ensuring that each support foot can adaptively adjust its height and provide stable support on different terrains. The millimeter-wave radar can be installed on the outside of each support foot, 50 mm above the ground, and installed with a downward tilt of 15°, for real-time scanning of a 1 m × 1 m area under the support foot, generating a three-dimensional topographic map with an elevation resolution of 5 mm to identify potholes, slopes, and loose areas. The piezoresistive tactile sensor array can be installed on the bottom contact surface of the support foot, with a coverage area ratio ≥ 90%. More specifically, when adapting to loose ground, when the tactile sensor detects a pressure < 100 N, such as the characteristics of sandy or muddy ground, the controller controls the spikes to extend 20 mm and insert into the ground to enhance the grasping force. When adapting to hard ground and the pressure > 300 N, the spikes do not need to extend, reducing frictional losses.

[0074] The distributed controller and optimization algorithm are specifically as follows: Dynamic Pressure Balance Algorithm (DPB): Terrain prediction: The millimeter-wave radar data is input into the convex optimization model to calculate the initial height adjustment amount of the support foot, making the theoretical inclination angle of the device approach 0°.

[0075] Real-time leveling: Combining the IMU inclination angle (ADIS16470, ±0.05°) and the pressure distribution of the tactile sensor, the objective function is optimized as: ; Fi is the pressure of each foot, F avg is the average pressure, Δ Li is the height adjustment amount, and β is the weight coefficient; Pressure balance term: Minimize the relative deviation (in square form) between the pressures of the four feet and the average pressure to ensure uniform force on each foot; Energy consumption suppression term: Limit the adjustment range (ΔLi) of the lifting support rod through the weight coefficient β to avoid frequent large adjustments to reduce energy consumption.

[0076] The parameter definitions and calculation logics are as follows: (1) Height adjustment amount ΔLi ; k: Proportional coefficient, determining the direct influence of pressure deviation on the adjustment amount; Si: Spike extension length, triggered by the tactile sensor; γ: Spike influence factor, adjusting the contribution of spike expansion and contraction to height compensation.

[0077] (2) Value-taking logic of the weight coefficient β ; Dynamic adjustment rule: Initial stage (t = 0): β = β0, with priority given to rapid leveling.

[0078] Steady-state stage (t → ∞): β → 0, with emphasis on energy consumption optimization.

[0079] Time constant τ: Controls the rate of weight decay.

[0080] β0 is the initial value of the weight coefficient β; t represents the cumulative time of the leveling process.

[0081] (3) Constraint conditions .

[0082] An example of the algorithm flow is as follows: 1) Data input: The millimeter-wave radar generates a topographic elevation map; The tactile sensor obtains the four-foot pressure distribution {F1, F2, F3, F4}; The IMU outputs the device inclination angle θ.

[0083] 2) Initialization adjustment: Calculate Favg = W / 4; If θ > 0.2°, trigger the prediction of the initial value of ΔLi by the convex optimization model.

[0084] 3) Iterative optimization: Solve for the optimal ΔLi according to the objective function and constraint conditions; If the pressure deviation of a certain foot > 10% (i.e., |Fi - Favg| / Favg > 0.1), trigger the compensation of adjacent support feet (ΔLj += 1 - 3 mm).

[0085] 4) Spike control: If Fi < 100N, Si = 20 mm (sandy land adaptation); If Fi > 300N, Si = 0 mm (hard land adaptation).

[0086] This technical solution balances the leveling accuracy and energy consumption by introducing the weight coefficient β, avoiding over-reliance on the adjustment of a single support foot. Although the embodiments of the present invention have been disclosed as above, it is not limited to only the applications listed in the specification and embodiments. It can be fully applied to various fields suitable for the present invention. For those familiar with the field, additional modifications can be easily made. Therefore, without departing from the general concept defined by the claims and the equivalent scope, the present invention is not limited to specific details and the illustrations shown and described herein.

Claims

1. A collecting and unloading power generation robot, including a silent box-type diesel generator set, characterized in that: Also includes: At least two sets of lifting support rod assemblies, wherein the lifting support rod assemblies are arranged on both sides of the silent box-type diesel generator set to lift the silent box-type diesel generator set during loading and unloading; The lifting support rod assembly also includes a support foot structure, and the support foot structure includes: Two support plates, a mounting plate is provided on the back of each support plate, a first mounting hole and a second mounting hole are respectively provided at both ends of the mounting plate, the mounting plate on the left support plate and the mounting plate on the right support plate are staggered, and a first connecting shaft passes through the first mounting holes on the two support plates so that the two support plates can be rotatably connected; The linkage structure includes two linkage rods, a second connecting shaft and a third connecting shaft. The two ends of the linkage rod are respectively provided with a third mounting hole and a fourth mounting hole. The second connecting shaft passes through the second mounting hole and the third mounting hole so that the linkage rod can rotate relative to the mounting plate. The third connecting shaft passes through the fourth mounting hole on the two linkage rods to hinge the two linkage rods in a herringbone shape. The movable part of the electric push rod II of the lifting support rod assembly is connected to the third connecting shaft.

2. The collecting and unloading power generation robot according to claim 1, characterized in that: It also includes a folding support caster assembly, which is arranged at the bottom of the silent box-type diesel generator set to support and move the silent box-type diesel generator set during transfer.

3. The collecting and unloading power generation robot according to claim 1, characterized in that: There are 4 sets of lifting support rod assemblies, which are respectively fixedly connected to the four supporting columns on the silent box-type diesel generator set.

4. The collecting and unloading power generation robot according to claim 1, characterized in that: The lifting support rod assembly comprises: Telescopic support structure; A folding structure, comprising an upper connecting rod, a lower connecting rod and an electric push rod I, one end of the upper connecting rod is hinged to the upper part of the support column, and the other end is hinged to the upper part of the telescopic support structure, one end of the lower connecting rod is hinged to the lower part of the support column, and the other end is hinged to the lower part of the telescopic support structure, one end of the electric push rod I is hinged to the middle and upper part of the support column, and the other end of the electric push rod I is hinged to the lower connecting rod so that the movable part of the electric push rod I can extend downward; When the folding structure needs to be unfolded, the movable part of the electric push rod I extends downward to push the lower connecting rod to swing downward. When the lower connecting rod swings downward to a horizontal state, the lower connecting rod is fixed to the supporting column through the locking structure, and the movable part of the telescopic supporting structure extends downward to support the silent box-type diesel generator set. When the folding structure needs to be folded, the active part of the electric push rod I contracts, driving the lower connecting rod to swing upward, and the lower connecting rod drives the upper connecting rod to swing, thereby driving the telescopic supporting structure to move.

5. The collecting and unloading power generation robot according to claim 4, characterized in that: A long strip through hole is provided in the middle and upper part of the support column, one end of the electric push rod I is hinged in the long strip through hole, and a hidden groove is provided on the upper surface of the lower connecting rod; When the lifting support rod assembly needs to be folded, the locking structure is opened, the electric push rod I contracts to drive the lower connecting rod to swing upward, the electric push rod I is hidden in the long through hole and the hidden groove, and the telescopic support structure is folded close to the side of the silent box-type diesel generator set.

6. The collecting and unloading power generation robot according to claim 4, characterized in that: It also includes a connecting part for connecting the upper connecting rod and the lower connecting rod to the supporting column respectively, and the connecting part includes: A support pin seat, which is a connecting plate, the support pin seat is connected to the support column, the upper connecting rod and the lower connecting rod are both hinged to the support pin seat, and the ends of the upper connecting rod and the lower connecting rod are provided with guide grooves along the length direction of the rod, and the guide grooves correspond to the support pin seat so that when the upper connecting rod and the lower connecting rod swing, the guide grooves and the support pin seat guide and cooperate; A locking structure, comprising an upper locking plate hole, a lower locking plate hole, an upper locking rod hole, a lower locking rod hole and a locking pin shaft, wherein the upper locking plate hole is arranged on an upper supporting pin seat, the upper locking rod hole is arranged on an upper connecting rod, the lower locking plate hole is arranged on a lower supporting pin seat, and the lower locking rod hole is arranged on a lower connecting rod; Wherein, when the folding mechanism is in a folded state, the upper locking plate hole corresponds to the upper locking rod hole, and the locking pin passes through the upper locking plate hole and the upper locking rod hole; When the folding mechanism is in an open state, the lower locking plate hole corresponds to the lower locking rod hole, and the locking pin passes through the lower locking plate hole and the lower locking rod hole.

7. The collecting and unloading power generation robot according to claim 6, characterized in that: It also includes a limit plate, which is arranged on the side of the support pin seat to limit the upward swing angle of the upper connecting rod and the lower connecting rod.

8. The collecting and unloading power generation robot according to claim 4, characterized in that: The telescopic support structure includes: The support rod is a hollow structure, and the upper connecting rod and the lower connecting rod are both hinged to the support rod; The electric push rod II is installed in the inner cavity of the support rod, and the movable part of the electric push rod II can extend downward from the bottom of the support rod.

9. The collecting and unloading power generation robot according to claim 1, characterized in that: The lifting support rod assembly also includes: Terrain Adaptation Module, which includes: A multimodal sensor array, integrated at the bottom of each support leg, includes a millimeter wave radar (77 GHz) and a piezoresistive tactile sensor array. The millimeter wave radar is used to scan the ground elevation in real time and generate a three-dimensional terrain map. The tactile sensor array is used to monitor the contact pressure distribution between the support leg and the ground. Inertial measurement unit (IMU), used to collect the device's inclination in real time; A distributed controller is communicatively connected with the multimodal sensor array, and based on the topographic map and pressure distribution data, dynamically adjusts the extension and retraction of the four sets of lifting support rods through the distributed controller and the optimization algorithm, so that the height of each support foot can be adjusted independently until the contact pressure deviation of the four feet is less than 5% and the overall inclination angle of the equipment is ≤0.2°.

10. The collecting and unloading power generation robot according to claim 1, characterized in that: It also includes a guide plate, which is provided with an elongated guide groove. The bottom of the guide plate is fixedly connected to the first connecting shaft. The third connecting shaft is slidably sleeved in the elongated guide groove. The elongated guide groove is arranged parallel to the electric push rod II.

Images