Bridge cable laying robot group based on ZigBee and laying method

Abstract

The invention discloses a ZigBee-based bridge cable laying robot group and laying method, the ZigBee-based bridge cable laying robot group comprises at least one host and at least one auxiliary machine, the host and the auxiliary machine are cable laying robots, each cable laying robot comprises a vehicle body, and moving assemblies are installed on two sides of the lower end of the vehicle body; the moving assembly comprises a plurality of upper wheels and lower wheels, parts of the upper wheels are located on the outer side of the upper end of the bridge frame, and the lower wheels are located on the inner side of the bridge frame and make contact with the bridge frame; the power assembly provides driving force for the robot; the clamping device is mounted below the rear end of the vehicle body; the scanning and recognition unit is installed on one side of the vehicle body, the scanning and recognition unit scans the Rfid tag arranged at the terminal point and recognizes the number of cables, the accident rate is reduced, and the construction quality is guaranteed; and meanwhile, efficiency is improved, wiring is faster than traditional manual wiring, and labor cost is saved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of cable laying, in particular to a bridge cable laying robot group based on ZigBee and a laying method. BACKGROUND

[0002] In the field of power installation, cable laying is one of the core links of infrastructure construction of power, communication, transportation and the like. However, the existing cable laying relies on manual work, and the following problems exist.

[0003] Low efficiency: traditional cable laying relies on manual work, and the efficiency is low, especially in complex terrain (such as tunnels, bridges), the construction period is long, and the time ratio of high-altitude bridge operation is more than 40%. Quality hidden danger: manual wiring has problems such as insufficient bending radius and insulation layer scratch, and the rework rate is as high as 15%-20%. Safety risk: high risk in high-altitude, underground or narrow space operation, easy to cause accidents, and the accident rate of high-altitude operation accounts for 23% of the total accidents in the construction industry. SUMMARY

[0004] In view of the problems in the prior art, the purpose of the present application is to provide a bridge cable laying robot group based on ZigBee and a laying method, which can reduce the accident rate and ensure the construction quality; at the same time, the efficiency is improved, which is faster than traditional manual wiring and saves labor cost.

[0005] The present application adopts the following technical solutions:

[0006] The bridge cable laying robot group based on ZigBee comprises at least one host and at least one slave machine, and the host and the slave machine are both cable laying robots, which comprise:

[0007] A vehicle body, a moving assembly is installed at the lower end of the vehicle body on both sides;

[0008] The moving assembly comprises a plurality of upper wheels and lower wheels, part of the upper wheels is located on the outer side of the upper end of the bridge, and the lower wheels are located on the inner side of the bridge and in contact with the bridge;

[0009] A power assembly provides driving force for the robot;

[0010] A clamping device is installed below the rear end of the vehicle body;

[0011] A scanning and identifying unit is installed on one side of the vehicle body, which scans the Rfid tag arranged at the terminal point and identifies the number of cables.

[0012] Further, the clamping device comprises a clamping installation base plate, a plurality of installation blocks are installed at the lower end of the clamping installation base plate in a circumferential distribution, two groups of adapter plates are installed at the lower end of the installation blocks through connecting pins, clamping arms are installed at the lower end of the adapter plates through connecting pins, a driving arm is installed between the two adapter plates through a connecting pin, the other end of the driving arm is hinged to a hinge block, the hinge block is installed at the bottom of a driving shaft, and the driving shaft penetrates through the clamping installation base plate.

[0013] Further, the top of each driving shaft is connected with an electromagnetic valve, and the vehicle body is provided with eight clamping devices.

[0014] Further, the scanning and identifying unit comprises a code scanning gun, and the Rfid tag is placed at the terminal end close to the side of the bridge.

[0015] Further, the upper wheel comprises a wheel body one and a wheel body two, the shaft of the wheel body two is perpendicular to the wheel body one, the wheel body two is located at the outer side of the bridge, the wheel body one is placed at the upper end of the bridge, the other end of the wheel body one is connected with a wheel body one installation plate, the other side of the wheel body one installation plate is installed on the output end of an electric push rod, and the output end of the electric push rod is provided with the wheel body two.

[0016] Further, the wheel body one and the wheel body two are each provided with four.

[0017] Further, the upper end of the vehicle body is provided with an on / off button, a clamping button, a starting button, a charging port, a display screen, a stop button, a loosening button and a wheel spacing conversion switch.

[0018] The application further discloses a bridge cable laying method, which comprises the following steps.

[0019] Step one: manually laying cables to the starting point, and setting a host and a slave;

[0020] Step two: setting Rfid tags at the terminal ends of all cable paths in advance;

[0021] Step three: determining the number of required slaves according to requirements;

[0022] Step four: adjusting the wheel spacing of the host through the wheel spacing conversion switch by pressing the on / off button of the host, so that the wheel spacing is adapted to the width of the bridge;

[0023] Step five: placing the host on the bridge, fixing the cable on the clamping arm by manual operation after starting the host, clamping the cable by the host by pressing the clamping button, and driving by pressing the starting button;

[0024] Step six: when the sub-machine is needed to be added, the sub-machine is started by pressing the sub-machine on / off button, the display screen displays the successful communication connection, the stop button is pressed, the main machine is stopped through Zigbee communication control; then the sub-machine is placed on the bridge, the wheel distance is adjusted; the cable is fixed on the clamping arm by artificial method, the clamping button is clicked, the cable is clamped, the start button is clicked, the sub-machine starts to run; at the same time, the start instruction is transmitted to the main machine to control the main machine to run;

[0025] Step seven: after reaching the first end point, the main machine recognizes the Rfid tag, stops moving and sends a stop instruction to the rear, controls the clamping device to release a corresponding number of cables; the release instruction is transmitted backward through Zigbee communication, and the sub-machine releases the clamping device after receiving the instruction;

[0026] Step eight: the sub-machine returns the release instruction, the main machine receives the release instruction and sends a forward instruction, and starts to move forward;

[0027] Step nine: after reaching the second end point, the main machine recognizes the Rfid tag, stops moving forward, releases a corresponding number of cables, transmits the stop instruction and the release instruction backward through Zigbee communication, the sub-machine stops moving forward and releases the clamping device after receiving the instruction, and sends a release signal;

[0028] Step ten: the main machine receives the release instruction, sends a return instruction and moves reversely, and the sub-machine also moves reversely;

[0029] Step eleven: the robot returns to the starting point, the robot is recycled by clicking the on / off button in turn, and the next cable laying is waited.

[0030] Beneficial effects

[0031] The main machine and the sub-machine are designed, the main machine can control the sub-machine, the main machine and the sub-machine are used for wiring, manual wiring is cancelled, wiring danger is greatly reduced, the accident rate is reduced, and the construction quality is ensured. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 The schematic diagram of the present application is shown in the figure;

[0033] Figure 2 The schematic diagram of the cable laying robot of the present application is shown in the figure;

[0034] Figure 3 The schematic diagram of the moving assembly installation of the present application is shown in the figure;

[0035] Figure 4 The schematic diagram of the clamping device of the present application is shown in the figure;

[0036] Figure 5 The schematic diagram of the clamping device of the present application is shown in the figure;

[0037] Figure 6A partial view of the clamping device of the present application. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical scheme and advantages of the present application more clear, the present application is further described in detail below in combination with the drawings and examples. It should be understood that the specific examples described herein are only used to explain the present application and do not limit the present application.

[0039] As shown in the figure, the present application discloses a ZigBee-based bridge cable laying robot group, which comprises at least one host computer 1 and at least one secondary machine 2. The host computer 1 and the secondary machine 2 are both cable laying robots. The host computer 1 and the secondary machine 2 are the same in structure but different in position. The cable laying robots interact with each other through Zigbee communication. After successful communication, a connection success sign appears on the display screen. The cable laying robot comprises:

[0040] A vehicle body 5, a moving assembly is installed at the lower end of both sides of the vehicle body 5;

[0041] The moving assembly comprises a plurality of upper wheels 6 and lower wheels 7. A part of the upper wheels 6 is located on the outer side of the upper end of the bridge 3, and the lower wheels 7 are located on the inner side of the bridge 3 and in contact with the bridge 3. The moving assembly is used to drive the cable laying robot to move on the bridge 3.

[0042] A power assembly, which provides driving force for the cable laying robot, i.e. drives the moving assembly to work and drives the clamping device A to work.

[0043] The clamping device A is installed below the rear end of the vehicle body 5. The clamping device A is used to clamp and loosen the cable 4.

[0044] A scanning and identifying unit B is installed on one side of the vehicle body 5. The scanning and identifying unit scans the Rfid tag arranged at the terminal point and identifies the number of the cable 4.

[0045] In an embodiment of the present application, the clamping device comprises a clamping installation base plate 8. A plurality of installation blocks 9 are circumferentially distributed at the lower end of the clamping installation base plate 8. Two groups of adapter plates 10 are installed at the lower end of each installation block 9 through connecting pins. A clamping arm 11 is installed at the lower end of each adapter plate 10 through a connecting pin. A driving arm 12 is installed between the two adapter plates 10 through a connecting pin. The other end of the driving arm 12 is hinged to a hinge block 13. The hinge block 13 is installed at the bottom of a driving shaft 14. The driving shaft 14 penetrates through the clamping installation base plate 8.

[0046] When clamping is needed, the driving shaft 14 moves vertically, driving the hinge block 13 to move. The hinge block 13 drives the driving arm 12 to move. The driving arm 12 drives the adapter plate 10 to move. The adapter plate 10 drives the clamping arm 11 to move towards each other, realizing clamping of the cable 4.

[0047] Each upper end of the clamping arms 11 is hinged to the two sets of adapter plates 10, so that when one set of adapter plates 10 is pulled, the other set of adapter plates 10 can be used to stabilize the multiple clamping arms 11 to clamp the cable.

[0048] In an embodiment of the present application, the top of each drive shaft 14 is connected to an electromagnetic valve 15, which is installed at the upper end of the clamping mounting base plate 8, and the vehicle body 5 is provided with eight clamping devices.

[0049] The electromagnetic valve 15 is used to turn on and off to pull up and release the drive shaft 14, so as to clamp and release the cable 4.

[0050] In an embodiment of the present application, the scanning and identifying unit comprises a code scanning gun, and the Rfid tag is placed at the end of the side of the bridge 3.

[0051] In an embodiment of the present application, the upper wheels 6 comprise a wheel body one 62 and a wheel body two 61, the wheel body two 61 is perpendicular to the wheel body one 62, the wheel body two 61 is located at the outer side of the bridge 3, the wheel body one 62 is placed at the upper end of the bridge 3, the other end of the wheel body one 62 is connected to the wheel body one mounting plate 15, the other side of the wheel body one mounting plate 15 is installed on the output end of the electric push rod 16, and the output end of the electric push rod 16 is installed with the wheel body two 61. The center of the lower wheels 7 is connected to the output end of the motor 17, and the motor 17 is installed on the output end of the electric push rod 16. When it is necessary to adapt to the bridge 3, the electric push rod 16 works, so that the lower wheels 7 are located at the inner side of the bridge 3, and the upper wheels 6 are located at the upper end of the bridge 3, at this time, the wheel body two 61 is located at the outer side of the bridge 3, and the two wheel body two 61s make the vehicle body not to be separated from the bridge 3, and then the electric push rod 16 works to push the two lower wheels 7 to move outward and be close to the bridge, so as to realize installation.

[0052] The wheel body two 61 ensures that the vehicle body will not fall off the bridge 3 and ensures that it is always located on the bridge 3.

[0053] In an embodiment of the present application, the wheel body one 62 and the wheel body two 61 are each provided with four.

[0054] In an embodiment of the present application, the upper end of the vehicle body 5 is provided with an on / off button 51, a clamping button 52, a starting button 53, a charging port 54, a display screen 55, a stop button 56, a release button 57 and a wheel spacing conversion switch 58. The display screen 55 can display the power. The clamping button 52 is connected to the electromagnetic valve.

[0055] The wheel spacing conversion switch 58 is connected to the electric push rod, when the wheel spacing conversion switch 58 is pressed, the electric push rod works, and when the wheel spacing conversion switch 58 is pressed again, the electric push rod stops working.

[0056] The present application also discloses a bridge cable laying method, comprising the following steps:

[0057] Step one: manually lay the cable to the starting point, set the host 1 and the secondary machine 2;

[0058] Step two: set the Rfid tag in advance at the end of each cable path;

[0059] Step three: determine the number of secondary machines 2 required according to the needs;

[0060] Step four: press the on / off button 51 of the host 5 to adjust the wheelbase of the host 1 through the wheelbase conversion switch 58 to adapt to the width of the bridge 3;

[0061] Step five: place the host 1 on the bridge 3, after starting, manually fix the cable 4 on the clamping arm 11, click the clamping button 52 to clamp the cable 4, and press the start button 53 to drive;

[0062] Step six: when the secondary machine 2 is needed, turn on the secondary machine by pressing the on / off button 51, and after the display screen 55 displays that the communication connection is successful, press the stop button 56 to control the host 1 to stop through Zigbee communication; then place the secondary machine 2 on the bridge 3, adjust the wheelbase; manually fix the cable 4 on the clamping arm, click the clamping button 52, and after clamping the cable 4, click the start button 53 to start the secondary machine 2; at the same time, the start instruction is transmitted to the host 1 to control the host to drive;

[0063] Step seven: after reaching the first end point, the host 1 recognizes the Rfid tag, stops moving and sends a stop instruction to the rear, controls the clamping device A to release the corresponding number of cables 4; the release instruction is transmitted backward through Zigbee communication, and the secondary machine 2 releases the clamping device A after receiving the instruction, which is actually the clamping arm 11 of the clamping device A;

[0064] Step eight: the secondary machine 2 returns the release instruction, and the host 1 receives it and sends a forward instruction to start moving forward;

[0065] Step nine: after reaching the second end point, the host 1 recognizes the Rfid tag and stops moving forward, releases the corresponding number of cables 4, and transmits the stop instruction and release instruction backward through Zigbee communication; the secondary machine 2 stops moving forward and releases the clamping device A after receiving the instruction, and sends a release signal;

[0066] Step ten: the host 1 receives the release instruction and sends a return instruction to move in reverse, and the secondary machine 2 also moves in reverse;

[0067] Step eleven: the cable laying robot returns to the starting point, and the cable laying robot is recycled by clicking the on / off button in turn, waiting for the next cable laying.

[0068] The above merely provides the preferred embodiments of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art, according to the technical solution of the present application and the improved concept thereof, makes equivalent replacement or change within the technical range disclosed by the present application, and should be covered within the protection scope of the present application.

Claims

1. A ZigBee-based bridge cable-laying robot swarm, characterized by: The cable laying robot comprises at least one main machine and at least one auxiliary machine, and the main machine and the auxiliary machine are both cable laying robots, and the cable laying robot comprises: The vehicle body, the moving assembly is installed at the lower end of the vehicle body on both sides; The moving assembly comprises a plurality of upper wheels and lower wheels, a part of the upper wheels is located on the outer side of the upper end of the bridge, and the lower wheels are located on the inner side of the bridge and are in contact with the bridge; The power assembly provides driving force for the robot; The clamping device is installed below the rear end of the vehicle body; The scanning and identifying unit is installed on one side of the vehicle body, and the scanning and identifying unit scans the Rfid label arranged at the terminal point to identify the number of cables.

2. The ZigBee-based bridge cabling robot swarm of claim 1, wherein: The clamping device comprises a clamping installation bottom plate, a plurality of circumferentially distributed installation blocks are installed at the lower end of the clamping installation bottom plate, two groups of adapter plates are installed at the lower end of the installation blocks through connecting pins, the adapter plates are installed with clamping arms at the lower end through connecting pins, a driving arm is installed between the two adapter plates through a connecting pin, the other end of the driving arm is hinged to a hinge block, the hinge block is installed at the bottom of a driving shaft, and the driving shaft penetrates through the clamping installation bottom plate.

3. The ZigBee-based bridge cabling robot swarm of claim 2, wherein: The top of each driving shaft is connected with an electromagnetic valve, and the vehicle body is provided with eight clamping devices.

4. The ZigBee-based bridge cabling robot swarm of claim 1, wherein: The scanning and identifying unit comprises a code scanning gun, and the Rfid label is placed at the terminal point close to the side of the bridge.

5. The ZigBee-based bridge cabling robot swarm of claim 1, wherein: The upper wheels comprise wheel body one and wheel body two, the shaft of the wheel body two is perpendicular to the wheel body one, the wheel body two is located on the outer side of the bridge, the wheel body one is placed on the upper end of the bridge, the other end of the wheel body one is connected with the wheel body one mounting plate, the other side of the wheel body one mounting plate is installed on the output end of the electric push rod, and the output end of the electric push rod is installed with the wheel body two. The center of the lower wheel is connected with the output end of the motor, and the motor is installed on the output end of the electric push rod.

6. The ZigBee-based bridge cabling robot swarm of claim 5, wherein: The wheel body one and the wheel body two are both provided with four.

7. The ZigBee-based bridge cabling robot swarm of claim 3, wherein: The upper end of the vehicle body is provided with an on / off button, a clamping button, a starting button, a charging port, a display screen, a stop button, a loosening button and a wheel spacing conversion switch.

8. A method of cable routing for a bridge, characterized by: The method comprises the following steps: Step one: manually lay the cable to the starting point, and set the main machine and the auxiliary machine; Step two: set the Rfid label at the terminal of each cable path in advance; Step three: determine the number of auxiliary machines required according to the demand; Step four: press the main machine on / off button, adjust the wheel spacing of the main machine through the wheel spacing conversion switch to adapt to the width of the bridge; Step five: place the main machine on the bridge, fix the cable on the clamping arm by artificial method after starting, press the clamping button to clamp the cable, and press the starting button to drive; Step six: when the auxiliary machine is needed, press the auxiliary machine on / off button to start, display the successful communication connection on the display screen, press the stop button, control the main machine to stop through Zigbee communication, then place the auxiliary machine on the bridge, adjust the wheel spacing, fix the cable on the clamping arm by artificial method, press the clamping button to clamp the cable, press the starting button to drive the auxiliary machine, and transmit the starting instruction to the main machine to control the main machine to drive; Step seven: after reaching the first terminal point, the main machine identifies the Rfid label, stops moving and sends a stop instruction to the rear, controls the clamping device to loosen the corresponding number of cables, and transmits the loosening instruction to the rear through Zigbee communication, and the auxiliary machine loosens the clamping device after receiving the instruction; Step eight: the sub-machine returns the released instruction, and the main machine receives it and sends the forward instruction to start moving forward; Step nine: after reaching the second end point, the main machine identifies the Rfid tag, stops moving forward, releases the corresponding amount of cable, and sends the stop instruction and release instruction to the rear through Zigbee communication. The sub-machine stops moving forward and releases the clamping device after receiving the instruction, and sends the released signal; Step ten: the main machine receives the released instruction, sends the return instruction, and moves backward. The sub-machine also moves backward in the same way; Step eleven: the robot returns to the starting point, and the robot is recycled by clicking the on / off button in turn. Wait for the next cable laying.

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