Aerial anti-explosion transfer robot

Abstract

The invention relates to the technical field of aerial robots, in particular to an aerial anti-explosion transfer robot which comprises a walking device and an anti-explosion box, the walking device is used for being in sliding connection with an aerial track and can walk along the track, the walking device comprises a main driving walking mechanism and a driven walking machine, and the main driving walking mechanism and the driven walking machine are arranged in the advancing direction of the walking device on the track. The main driving walking mechanism is located at the front end of the driven walking mechanism, the driven walking mechanism is in rigid connection with the top of the anti-explosion box, the main driving walking mechanism is flexibly connected with the top of the anti-explosion box, and in the process that the walking device climbs along the track, the main driving walking mechanism is flexibly connected with the anti-explosion box. The gravity of the explosion-proof box is prevented from being concentrated at the connecting position of the driven walking mechanism and the explosion-proof box, the effect of dispersing stress is achieved, and the risk that the connecting position of the driven walking mechanism and the explosion-proof box is broken is effectively avoided.

Description

Technical Field

[0001] This invention relates to the field of aerial robotics technology, and in particular to an aerial explosion-proof transport robot. Background Technology

[0002] Explosion-proof handling robots are robots that enable automated material handling in flammable and explosive environments.

[0003] Currently, such as Figure 1 As shown, existing aerial explosion-proof handling robots typically include a walking device 1, an explosion-proof box 2, a lifting system 4, and a handling mechanism. The walking device 1 is slidably connected to the aerial track 7 and can walk along the track 7. The explosion-proof box 2 is connected to the bottom of the walking device 1. The lifting system 4 is mounted on the explosion-proof box 2, and the lifting end of the lifting system 4 is connected to the handling mechanism. The lifting system 4 is used to lift the handling mechanism, which is used to handle objects. The walking device 1 includes a main drive walking mechanism 10 and a driven walking mechanism 11. The main drive walking mechanism 10 and the driven walking mechanism 11 are respectively connected to the two sides of the explosion-proof box 2. Along the direction of travel of the walking device 1 on the track 7, the main drive walking mechanism 10 is located at the front end of the driven walking mechanism 11.

[0004] However, both the main drive walking mechanism 10 and the driven walking mechanism 11 are rigidly connected to the explosion-proof box 2. When the walking device 1 moves forward and climbs the slope along the track 7, the weight of the explosion-proof box 2 will be concentrated at the connection between the driven walking mechanism 11 and the explosion-proof box 2. The stress cannot be distributed, which may easily lead to the risk of breakage at the connection between the driven walking mechanism 11 and the explosion-proof box 2, thus causing safety hazards for the aerial transport robot in the process of transporting objects. Summary of the Invention

[0005] To address the shortcomings of existing technologies, the present invention aims to provide an aerial explosion-proof handling robot, which solves the technical problem that during the process of the walking device moving forward and climbing along the track, the weight of the explosion-proof box is concentrated at the connection between the driven walking mechanism and the explosion-proof box, and the stress cannot be distributed, which easily leads to the risk of breakage at the connection between the driven walking mechanism and the explosion-proof box.

[0006] To achieve the above object, the present invention adopts the following technical solutions:

[0007] An aerial explosion-proof handling robot includes a walking device and an explosion-proof box. The walking device is slidably connected to an aerial track and can walk along the track. The walking device includes a main drive walking mechanism and a driven walking mechanism. Along the direction of the walking device's movement on the track, the main drive walking mechanism is located at the front end of the driven walking mechanism. The driven walking mechanism is rigidly connected to the top of the explosion-proof box. The main drive walking mechanism and the top of the explosion-proof box are connected by a flexible structure. The flexible structure includes a connecting rod, a connecting seat, and a connecting shaft. The connecting seat is fixedly connected to the top of the explosion-proof box and has a U-shaped groove. The first end of the connecting rod is fixedly connected to the main drive walking mechanism, and the second end of the connecting rod is located in the U-shaped groove. The second end of the connecting rod also has a through hole. The two ends of the connecting shaft are respectively connected to the two sides of the U-shaped groove. The connecting shaft passes through the through hole, allowing the connecting seat to rotate relative to the connecting rod. The axis of rotation of the connecting seat about the connecting rod is perpendicular to the direction of the walking device's movement on the track.

[0008] Furthermore, the flexible structure also includes an adjustment component for adjusting the tightness of the connecting seat's rotation relative to the connecting rod.

[0009] Furthermore, the adjusting assembly includes an adjusting member and a shim assembly. The shim assembly is sleeved on the connecting shaft and is located outside the U-shaped groove. The adjusting member is located outside the U-shaped groove and is threadedly connected to the connecting shaft. Tightening the adjusting member drives the shim assembly to squeeze the two side walls of the U-shaped groove to clamp the connecting rod.

[0010] Furthermore, the adjusting member has a plurality of protrusions on the end face facing away from the U-shaped groove, the plurality of protrusions being spaced apart circumferentially along the adjusting member, and a locking member being provided on the connecting shaft, the locking member extending radially along the connecting shaft and passing through the gap between two adjacent protrusions.

[0011] Furthermore, a through hole is provided on the outer wall of the connecting shaft, the through hole extending radially through the connecting shaft, and the locking member passes through the gap between the through hole and two adjacent protrusions in sequence.

[0012] Furthermore, the present invention also includes a lifting system, which is installed on the explosion-proof box. The lifting system includes a power unit, a transmission assembly, a lifting assembly, and a belt winding assembly. The power unit is installed on the explosion-proof box, and its output end is driven and connected to the belt winding assembly. The transmission assembly includes a first pulley and a second pulley, which are rotatably arranged on opposite sides of the front end of the explosion-proof box. The lifting assembly includes a first lifting belt and a second lifting belt, which are wound around opposite sides of the belt winding assembly. The free ends of the first lifting belt and the second lifting belt are driven and connected to the first pulley and the second pulley, respectively. The power unit is used to drive the belt winding assembly to drive the first lifting belt and the second lifting belt to move up and down synchronously.

[0013] Further, the tape assembly includes a rotating shaft, a first tape plate, and a second tape plate. The first tape plate and the second tape plate are respectively disposed on opposite sides of the rotating shaft, and both the first tape plate and the second tape plate extend axially along the rotating shaft. There is a gap between the first tape plate and the rotating shaft, allowing the first lifting tape to be wound around the first tape plate. There is also a gap between the second tape plate and the rotating shaft, allowing the second lifting tape to be wound around the second tape plate. The direction in which the first lifting tape is wound around the first tape plate is the same as the direction in which the second lifting tape is wound around the second tape plate. The free end of the first lifting tape extends from the upper end of the first tape plate and is drivenly connected to the first pulley, and the free end of the second lifting tape extends from the lower end of the second tape plate and is drivenly connected to the second pulley.

[0014] Furthermore, the tape assembly also includes two guide discs, which are coaxially arranged on the rotating shaft, and the distance between the two guide discs forms a guide groove for guiding the winding of the first lifting tape and the second lifting tape.

[0015] Furthermore, the aerial explosion-proof transport robot of the present invention also includes a power supply battery, which is disposed inside the explosion-proof box. The power supply battery is used to supply power to the electrical control box disposed inside the explosion-proof box, and the electrical control box is used to control the main drive walking mechanism and the lifting system.

[0016] Furthermore, a magnetic switch is provided on the power supply battery, and the magnetic switch is electrically connected to the power supply circuit that controls the power supply battery. A drive unit is provided on the track, and a turntable is connected to the output end of the drive unit. A permanent magnet is provided on the turntable, and the two ends of the permanent magnet have different magnetic poles. The drive unit is used to drive the turntable to rotate the permanent magnet so that the magnetic poles of the permanent magnet can attract or repel the magnetic switch.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0018] The aerial explosion-proof handling robot of the present invention rigidly connects the driven walking mechanism to the explosion-proof box, while flexibly connecting the main drive walking mechanism to the explosion-proof box. Since the axis of rotation of the connecting seat around the connecting rod is perpendicular to the direction of travel of the walking device on the track, when the walking device moves uphill along the track, the connecting seat connected to the explosion-proof box will swing slightly downward around the connecting axis. This avoids the weight of the explosion-proof box being concentrated at the connection point between the driven walking mechanism and the explosion-proof box, and disperses part of the force of the explosion-proof box's weight concentrated at the connection point between the driven walking mechanism and the explosion-proof box, thus playing a role in stress dispersion and effectively avoiding the risk of breakage at the connection point between the driven walking mechanism and the explosion-proof box. Attached Figure Description

[0019] Figure 1 This is a structural schematic diagram of the aerial explosion-proof handling robot involved in the background technology of this invention;

[0020] Figure 2 This is a structural schematic diagram of the aerial explosion-proof handling robot of the present invention;

[0021] Figure 3 for Figure 2 Schematic diagram of the enlarged structure at A in the middle;

[0022] Figure 4 for Figure 2 The main view;

[0023] Figure 5 This is a schematic diagram of the adjusting component involved in this embodiment;

[0024] Figure 6 This is a schematic diagram of the connecting shaft involved in this embodiment;

[0025] Figure 7 This is a schematic diagram of the lifting system involved in this embodiment;

[0026] Figure 8 for Figure 7 A magnified structural diagram at point B in the middle;

[0027] Figure 9 This is a schematic diagram of the structure in which the magnetic switch and the permanent magnet are attracted to each other in this embodiment.

[0028] Icon labels:

[0029] 1. Walking device; 10. Main drive walking mechanism; 11. Driven walking machine; 2. Explosion-proof box; 3. Flexible structure; 30. Connecting rod; 31. Connecting seat; 310. U-shaped groove; 32. Connecting shaft; 320. Through hole; 321. Locking element; 33. Adjusting assembly; 330. Adjusting element; 3301. Protrusion; 3302. Locking groove; 331. Shim assembly; 4. Lifting system; 40. Power unit; 41. Belt winding assembly ; 410, Rotating shaft; 411, First winding plate; 412, Second winding plate; 413, Guide disc; 42, First pulley; 43, Second pulley; 44, First lifting belt; 45, Second lifting belt; 5, Power supply battery; 50, Magnetic switch; 51, Drive unit; 52, Turntable; 520, Left slot; 521, Right slot; 53, Permanent magnet; 6, Slotted photoelectric switch; 7, Track; 8, Static discharge wheel. Detailed Implementation

[0030] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0031] In the description of this invention, it should be understood that the terms "width," "upper," "lower," "front," "rear," "top," and "bottom," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, unless otherwise explicitly specified and limited, the terms "installed," "connected," "linked," and "set up" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection, a direct connection, or an indirect connection through an intermediate medium; they can refer to the internal communication of two elements or the interaction relationship between two elements. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0032] In this invention, unless otherwise expressly specified and limited, the first feature "above" or "below" the second feature may include direct contact between the first and second features, or contact between the first and second features not in direct contact but through another feature between them.

[0033] Please refer to Figure 2 - Figure 9 The present invention provides an aerial explosion-proof transport robot, including a walking device 1 and an explosion-proof box 2, a lifting system 4, a transport mechanism and a power supply battery 5.

[0034] The walking device 1 in this embodiment is used to slide and connect with the overhead track 7 and can walk along the track 7. The walking device 1 includes a main drive walking mechanism 10 and a driven walking machine 11. Along the direction of the walking device 1 moving on the track 7, the main drive walking mechanism 10 is located at the front end of the driven walking machine 11. The main drive walking mechanism 10 and the driven walking machine 11 are respectively connected to the top left and right sides of the explosion-proof box 2. The driven walking machine 11 is rigidly connected to the explosion-proof box 2. The main drive walking mechanism 10 and the explosion-proof box 2 are connected by a flexible structure 3.

[0035] It should be noted that the structure of the main drive walking mechanism 10 and the driven walking mechanism 11 moving along the track is a common structure for aerial vehicles or aerial robots and is existing technology, so it will not be described in detail here.

[0036] The flexible structure 3 includes a connecting rod 30, a connecting seat 31, a connecting shaft 32, and an adjusting component 33.

[0037] The connecting seat 31 is fixedly connected to the top of the explosion-proof box 2, and the connecting seat 31 can be fixedly connected to the explosion-proof box 2 by bolts. The connecting seat 31 is provided with a U-shaped groove 310. The first end of the connecting rod 30 is fixedly connected to the main drive walking mechanism 10 by bolts, and the second end of the connecting rod 30 is located in the U-shaped groove 310. A through hole is also opened on the second end of the connecting rod 30. The two ends of the connecting shaft 32 are respectively connected to the two sides of the U-shaped groove 310. The connecting shaft 32 passes through the through hole, so that the connecting seat 31 can rotate relative to the connecting rod 30. Of course, the axis of rotation of the connecting seat 31 around the connecting rod 30 is perpendicular to the direction of the walking device 1's forward movement on the track.

[0038] Driven by the power source of the main drive walking mechanism 10, the main drive walking mechanism 10 and the driven walking mechanism 11 move synchronously along the track. When the walking device 1 moves forward and climbs the slope along the track, the connecting seat 31 connected to the explosion-proof box 2 will swing slightly downward around the connecting shaft 32. This avoids the weight of the explosion-proof box 2 being concentrated at the connection point between the driven walking mechanism 11 and the explosion-proof box 2. It disperses part of the weight of the explosion-proof box 2 concentrated at the connection point between the driven walking mechanism 11 and the explosion-proof box 2, thus playing a role in dispersing stress and effectively avoiding the risk of breakage at the connection point between the driven walking mechanism 11 and the explosion-proof box 2.

[0039] In summary, the aerial explosion-proof handling robot of this embodiment has the ability to climb slopes and can effectively prevent the weight of the explosion-proof box 2 from being concentrated at the connection between the driven walking mechanism 11 and the explosion-proof box 2.

[0040] In this embodiment, the slope of the walking device 1 as it moves forward and climbs the track is typically between 0 and 3°. Specifically, the slope of the walking device 1 as it moves forward and climbs the track is 3°. In other embodiments, the slope of the walking device 1 as it moves forward and climbs the track can also be 2°, 1°, or 0°, and is not limited here.

[0041] The adjusting component 33 is used to adjust the tightness of the rotation of the connecting seat 31 relative to the connecting rod 30. Specifically, the adjusting component 33 includes an adjusting member 330 and a shim assembly 331. The shim assembly 331 is sleeved on the connecting shaft 32 and is located outside the U-shaped groove 310. The shim assembly 331 includes multiple shims. The adjusting member 330 is an adjusting nut, located outside the U-shaped groove 310 and threadedly connected to the connecting shaft 32. Tightening the adjusting member 330 causes the shim assembly 331 to press against the two side walls of the U-shaped groove 310, clamping the connecting rod 30. Therefore, when it is necessary to adjust the tightness of the rotation of the connecting seat 31 relative to the connecting rod 30, the pressure exerted by the adjusting member 330 on the shim assembly 331 can be adjusted. For example, when the slope of the walking device 1 climbing the track is 0°, the adjusting member 330 can be tightened to squeeze the pad assembly 331, thereby clamping the connecting rod 30 between the opposite side walls of the U-shaped groove 310, preventing the connecting seat from rotating relative to the connecting rod 30, and ensuring that the walking device 1 moves stably along the track; when the slope of the walking device 1 climbing the track is 3°, the adjusting member 330 can be loosened, reducing the squeezing effect of the adjusting member 330 on the pad assembly 331, thereby allowing the connecting seat to rotate relative to the connecting rod 30.

[0042] The adjusting member 330 has multiple protrusions 3301 on its end face facing away from the U-shaped groove 310. These protrusions 3301 are evenly spaced circumferentially along the adjusting member 330. A locking member 321 is provided on the connecting shaft 32, extending radially along the connecting shaft 32 and passing through the gap between adjacent protrusions 3301. Therefore, the locking member 321 can lock the adjusting member 330, preventing it from rotating and loosening.

[0043] A through hole 320 is provided on the outer wall of the connecting shaft 32. The through hole 320 passes through the connecting shaft 32 radially. The locking member 321 is a pin. The locking member 321 passes through the through hole 320 and the gap between two adjacent protrusions 3301 in sequence. The gap between two adjacent protrusions 3301 is a locking groove 3302. The locking groove 3302 cooperates with the pin to prevent the adjusting member 330 from rotating and loosening.

[0044] The lifting system 4 is mounted on the explosion-proof box 2. The lifting system 4 includes a power unit 40, a transmission assembly, a lifting assembly, and a belt winding assembly 41. The power unit 40 is fixed to the explosion-proof box 2 and is a drive motor. The output end of the power unit 40 is connected to the belt winding assembly 41. The transmission assembly includes a first pulley 42 and a second pulley 43, which are rotatably mounted on the left and right sides of the front end of the explosion-proof box 2, respectively. The rotation axes 410 of the first pulley 42 and the second pulley 43 are parallel to the axis of rotation of the connecting seat 31 around the connecting rod 30. The lifting assembly includes a first lifting belt 44 and a second lifting belt 45, which are wound around opposite sides of the belt winding assembly 41. The free ends of the first lifting belt 44 and the second lifting belt 45 are connected to the first pulley 42 and the second pulley 43, respectively. The power unit 40 drives the belt winding assembly 41 to synchronously lift the first lifting belt 44 and the second lifting belt 45.

[0045] Specifically, the tape winding assembly 41 includes a rotating shaft 410, a first tape winding plate 411, and a second tape winding plate 412. The first tape winding plate 411 and the second tape winding plate 412 are respectively fixed to the left and right sides of the rotating shaft 410 by bolts. Both the first tape winding plate 411 and the second tape winding plate 412 extend axially along the rotating shaft 410. A gap exists between the first tape winding plate 411 and the rotating shaft 410, allowing the first lifting tape 44 to be wound around the first tape winding plate 411; a gap also exists between the second tape winding plate 412 and the rotating shaft 410, allowing the second lifting tape 45 to be wound around the second tape winding plate 412. Since the direction in which the first lifting belt 44 is wound around the first winding plate 411 and the direction in which the second lifting belt 45 is wound around the second winding plate 412 are the same, and the free end of the first lifting belt 44 extends from the upper end of the first winding plate 411 and is connected to the first pulley 42, and the free end of the second lifting belt 45 extends from the lower end of the second winding plate 412 and is connected to the second pulley 43, when the power unit 40 rotates clockwise and drives the winding assembly 41 to rotate counterclockwise, the first lifting belt 44 and the second lifting belt 45 descend synchronously; when the power unit 40 rotates counterclockwise and drives the winding assembly 41 to rotate clockwise, the first lifting belt 44 and the second lifting belt 45 rise synchronously.

[0046] In addition, the tape winding assembly 41 also includes two guide discs 413, which are coaxially arranged on the rotating shaft 410. The distance between the two guide discs 413 forms a guide groove for guiding the winding of the first lifting belt 44 and the second lifting belt 45, so as to avoid deviation during the winding of the first lifting belt 44 and the second lifting belt 45 on the first tape winding plate 411 and the second tape winding plate 412, respectively.

[0047] In this embodiment, the transmission assembly, lifting assembly, and belt winding assembly 41 are each provided in two sets. Specifically, both sets of belt winding assemblies 41 are driven and connected to the output end of the power unit 40. The two sets of belt winding assemblies 41 are located on the front and rear sides of the power unit 40, respectively. The two sets of transmission assemblies are spaced apart along the front and rear sides of the explosion-proof box 2, respectively, and the two sets of lifting assemblies are spaced apart along the front and rear sides of the explosion-proof box 2, respectively. Therefore, in this embodiment, there are two first lifting belts 44 and two second lifting belts 45, which improves the lifting stability of the lifting assembly.

[0048] The power supply battery 5 is fixed inside the explosion-proof box 2. The power supply battery 5 is used to supply power to the main drive walking mechanism 10, the lifting system 4, and other electrical components fixed on the explosion-proof box 2. That is, it can be understood that the power supply battery 5 serves as the power supply system for the aerial explosion-proof handling robot in this embodiment.

[0049] A magnetic switch 50 is installed on the power supply battery 5, and the magnetic switch 50 is electrically connected to the power supply circuit that controls the power supply battery 5. A bracket is connected to the top of the track 7, and a drive unit 51, which is a motor, is installed on the bracket. The output end of the drive unit 51 is connected to a turntable 52, and a permanent magnet 53 is installed on the turntable 52. Of course, the drive unit 51, the turntable 52, and the permanent magnet 53 do not affect the movement of the aerial explosion-proof handling robot along the track 7. The two ends of the permanent magnet 53 have different magnetic poles. The drive unit 51 is used to drive the turntable 52 to rotate the permanent magnet 53 so that the magnetic poles of the permanent magnet 53 can attract or repel the magnetic switch 50.

[0050] In this embodiment, a magnetic switch 50 is used as the switch for the power supply battery 5 of the aerial explosion-proof transport robot. Since the operation or sleep mode of the aerial explosion-proof transport robot is controlled by an electrical control box located inside the explosion-proof enclosure, it can be understood that the electrical control box is mainly used to control the aforementioned walking device 1, lifting system 4, and transport mechanism. The electrical control box is the control system for the entire robot. The electrical control box is powered by the power supply battery 5; therefore, when the power supply battery 5 is activated to supply power to the electrical control box, the aerial explosion-proof transport robot will operate; when the power supply battery 5 is deactivated to supply power to the electrical control box, the aerial explosion-proof transport robot will enter sleep mode.

[0051] The magnetic switch 50 in this embodiment is a bistable magnetic switch, a magnetic induction device that uses changes in magnetic field to trigger and maintain a switching state. Its core feature is that it can maintain its state without continuous power supply, and the state switching is achieved by triggering with an external magnetic field. The structure and working principle of the bistable magnetic switch are existing technologies. The structure and working principle of the bistable magnetic switch 50 are briefly described here: The bistable magnetic switch 50 consists of a reed switch (a soft magnetic contact sealed inside a glass tube) and two small magnets with opposite polarities. When the bistable magnetic switch 50 is in operation, if the polarity of the external magnetic field is opposite to that of the small magnet inside the reed switch (e.g., the inside is N pole and the outside is S pole), the magnetic fields are superimposed and enhanced. The total magnetic field strength exceeds the closing threshold of the reed switch contact, and the contact closes and remains closed (even if the external magnetic field is removed, the residual magnetic field of the small magnet inside the reed switch can still maintain the closed state). When the polarity of the external magnetic field is the same as that of the small magnet inside the reed switch (e.g., the inside is N pole and the outside is N pole), the magnetic fields cancel each other out and weaken. The total magnetic field strength is lower than the closing threshold of the reed switch contact, and the contact opens and remains open (the residual magnetic field of the small magnet inside the reed switch remains open).

[0052] When the first magnetic pole of the permanent magnet 53 attracts the magnetic switch 50, the power supply battery 5 is activated and turns on. When the second magnetic pole of the permanent magnet 53 repels the magnetic switch 50, the power supply battery 5 is turned off. In the initial state (when the aerial explosion-proof transport robot is not running), the drive unit 51 is not started, the magnetic switch 50 fixed on the power supply battery 5 is close to the first end of the permanent magnet 53, and the magnetic switch 50 and the first magnetic pole of the permanent magnet 53 repel each other, the magnetic switch 50 cuts off the circuit, and the power supply battery 5 is in a stopped power supply state. When it is necessary to activate the power supply battery 5, the drive unit 51 drives the turntable 52 to rotate 180° clockwise, so that the second end of the permanent magnet 53 is close to the magnetic switch 50. At this time, the second magnetic pole of the permanent magnet 53 attracts the magnetic switch 50, so that the internal spring of the magnetic switch 50 closes, the magnetic switch 50 conducts the circuit, activates the power supply battery 5 and turns on, thereby activating the operation of the aerial explosion-proof transport robot. After the aerial explosion-proof transport robot completes its operation along track 7, the control box controls the robot to move along track 7 to the position of permanent magnet 53, aligning the magnetic switch 50 on the robot's power supply battery 5 with the permanent magnet 53. At this point, the drive unit 51 drives the turntable 52 to rotate 180° in the opposite direction, causing the first magnetic pole of the permanent magnet 53 to repel the magnetic switch 50, thus opening the contacts inside the magnetic switch 50. The power supply battery 5 then stops supplying power, putting the aerial explosion-proof transport robot into a dormant state. Therefore, this invention can automatically turn the power supply battery 5 on or off, thereby automatically activating or deactivating the aerial explosion-proof transport robot.

[0053] In addition, a sensor electrically connected to the drive unit is fixed on track 7. The sensor is used to detect the rotation angle of the turntable 52 and is powered by a ground-based power source. The sensor is mounted on track 7 via a bracket. Of course, the bracket and sensor do not interfere with the aerial explosion-proof handling robot's movement along track 7. By detecting the rotation angle of the turntable 52 through the sensor, it is convenient to control the rotation of either the first or second end of the permanent magnet 53 to approach the magnetic switch 50.

[0054] In this embodiment, the sensor is a slotted photoelectric switch 6. The turntable 52 has two slots, each slot penetrating the opposite surface of the turntable 52. The two slots are symmetrical about the center of the turntable 52. The rotation of the turntable 52 allows the slots to pass through the U-shaped slot of the slotted photoelectric switch 6. Specifically, the two slots are left slot 520 and right slot 521. In the initial state, the right slot 521 of the turntable 52 is located in the U-shaped slot of the slotted photoelectric switch 6. The first end of the permanent magnet 53 repels the magnetic switch 50, the internal contacts of the magnetic switch 50 are open, and the power supply battery 5 is in a non-powered state. When the turntable 52 rotates 180° forward under the drive of the drive unit 51, the left slot 520 is located in the U-shaped slot of the slotted photoelectric switch 6. The laser emitted by the slotted photoelectric switch 6 is not blocked by the turntable 52. At this time, the slotted photoelectric switch 6 feeds a signal to the drive unit 51 to stop the drive of the turntable 52, ensuring that the second end of the permanent magnet 53 is close to the magnetic switch 50, so that the second end of the permanent magnet 53 attracts the magnetic switch 50. At this time, the internal contacts of the magnetic switch 50 are closed, activating the power supply battery 5 to supply power to the control box. When the turntable 52 rotates 180° in the opposite direction under the drive of the drive unit 51, the right slot 521 returns to its original position, causing the first end of the permanent magnet 53 to approach the magnetic switch 50.

[0055] In this embodiment, the lifting system 4 and the power supply battery 5 are also located inside the explosion-proof box 2. This allows the handling robot of this embodiment to be applied in flammable and explosive environments to automatically handle materials. Of course, the bottom of the explosion-proof box 2 has slots for the first lifting belt 44 and the second lifting belt 45 to pass through. The first lifting belt 44 and the second lifting belt 45 pass through the slots and are connected and fixed to the handling mechanism, thereby realizing the handling of materials.

[0056] In addition, the track is coated with a conductive layer, and the driven walking mechanism 11 is equipped with an electrostatic discharge wheel 8, which moves along the track 7 with the driven walking mechanism 11. During the movement of the main drive walking mechanism 10 and the driven walking mechanism 11 along the track 7, the electrostatic discharge wheel 8 moves along the track 7 with the driven walking mechanism 11, ensuring that it remains in contact with the conductive layer coating on the track 7 throughout the movement, forming a continuous electrostatic discharge path. This avoids interruptions in electrostatic accumulation caused by the aerial explosion-proof handling robot moving along the track 7, ensuring that the aerial explosion-proof handling robot can release static electricity at any position, eliminating potential spark risks.

[0057] The transport mechanism in this embodiment uses an existing structure, which will not be described here.

[0058] In summary, when the robot of this embodiment is used in a flammable and explosive environment, the rotation angle of the drive unit 51 can be controlled by a remote controller, causing one end of the permanent magnet 53 to attract with the magnetic switch 50, activating the power supply battery 5 to provide power, thereby starting the electrical control box and realizing automatic robot startup. Conversely, controlling the rotation angle of the drive unit 51 by the remote controller causes the other end of the permanent magnet 53 to repel the magnetic switch 50, disconnecting the power supply battery 5 and realizing automatic robot shutdown. This avoids the need for an operator to control the robot's startup or shutdown in a flammable and explosive environment, ensuring the robot's operational safety in such environments.

[0059] The above description is only a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the present invention description and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. An aerial explosion-proof handling robot, comprising a walking device and an explosion-proof container, the walking device being slidably connected to an aerial track and capable of walking along the track, the walking device comprising a main drive walking mechanism and a driven walking mechanism, the main drive walking mechanism being located at the front end of the driven walking mechanism along the direction of travel of the walking device on the track, the driven walking mechanism being rigidly connected to the top of the explosion-proof container, characterized in that, The main drive walking mechanism is connected to the top of the explosion-proof box via a flexible structure. The flexible structure includes a connecting rod, a connecting seat, and a connecting shaft. The connecting seat is fixedly connected to the top of the explosion-proof box and has a U-shaped groove. The first end of the connecting rod is fixedly connected to the main drive walking mechanism, and the second end of the connecting rod is located in the U-shaped groove. A through hole is also provided on the second end of the connecting rod. The two ends of the connecting shaft are respectively connected to the two sides of the U-shaped groove, and the connecting shaft passes through the through hole, allowing the connecting seat to rotate relative to the connecting rod. The axis of rotation of the connecting seat around the connecting rod is perpendicular to the direction of the walking device's movement on the track.

2. The aerial explosion-proof handling robot according to claim 1, characterized in that, The flexible structure also includes an adjustment component for adjusting the tightness of the connecting seat relative to the connecting rod during rotation.

3. The aerial explosion-proof handling robot according to claim 2, characterized in that, The adjusting assembly includes an adjusting member and a shim assembly. The shim assembly is sleeved on the connecting shaft and is located outside the U-shaped groove. The adjusting member is located outside the U-shaped groove and is threadedly connected to the connecting shaft. Tightening the adjusting member drives the shim assembly to squeeze the two side walls of the U-shaped groove and clamp the connecting rod.

4. The aerial explosion-proof handling robot according to claim 3, characterized in that, The adjusting member has multiple protrusions on its end face facing away from the U-shaped groove. The multiple protrusions are spaced apart circumferentially along the adjusting member. The connecting shaft has a locking member that extends radially along the connecting shaft and passes through the gap between two adjacent protrusions.

5. An aerial explosion-proof transport robot according to claim 4, characterized in that, A through hole is provided on the outer wall of the connecting shaft. The through hole passes through the connecting shaft radially. The locking member passes through the through hole and the gap between two adjacent protrusions in sequence.

6. The aerial explosion-proof handling robot according to claim 1, characterized in that, It also includes a lifting system, which is installed on the explosion-proof box. The lifting system includes a power unit, a transmission assembly, a lifting assembly, and a belt winding assembly. The power unit is installed on the explosion-proof box, and its output end is connected to the belt winding assembly. The transmission assembly includes a first pulley and a second pulley, which are rotatably arranged on opposite sides of the front end of the explosion-proof box. The lifting assembly includes a first lifting belt and a second lifting belt, which are wound around opposite sides of the belt winding assembly. The free ends of the first lifting belt and the second lifting belt are connected to the first pulley and the second pulley, respectively. The power unit is used to drive the belt winding assembly to drive the first lifting belt and the second lifting belt to move up and down synchronously.

7. An aerial explosion-proof handling robot according to claim 6, characterized in that, The tape winding assembly includes a rotating shaft, a first tape winding plate, and a second tape winding plate. The first tape winding plate and the second tape winding plate are respectively disposed on opposite sides of the rotating shaft, and both the first tape winding plate and the second tape winding plate extend axially along the rotating shaft. There is a gap between the first tape winding plate and the rotating shaft, allowing the first lifting tape to be wound around the first tape winding plate. There is also a gap between the second tape winding plate and the rotating shaft, allowing the second lifting tape to be wound around the second tape winding plate. The direction in which the first lifting tape is wound around the first tape winding plate is the same as the direction in which the second lifting tape is wound around the second tape winding plate. The free end of the first lifting tape extends from the upper end of the first tape winding plate and is drivenly connected to the first pulley, and the free end of the second lifting tape extends from the lower end of the second tape winding plate and is drivenly connected to the second pulley.

8. An aerial explosion-proof handling robot according to claim 7, characterized in that, The tape winding assembly also includes two guide discs, which are coaxially arranged on the rotating shaft. The distance between the two guide discs forms a guide groove for guiding the winding of the first and second lifting tapes.

9. An aerial explosion-proof handling robot according to claim 6, characterized in that, It also includes a power supply battery, which is installed inside the explosion-proof box. The power supply battery is used to supply power to the electrical control box installed inside the explosion-proof box. The electrical control box is used to control the main drive walking mechanism and the lifting system.

10. An aerial explosion-proof handling robot according to claim 9, characterized in that, A magnetic switch is provided on the power supply battery, and the magnetic switch is electrically connected to the power supply circuit that controls the power supply battery. A drive unit is provided on the track, and a turntable is connected to the output end of the drive unit. A permanent magnet is provided on the turntable, and the two ends of the permanent magnet have different magnetic poles. The drive unit is used to drive the turntable to rotate the permanent magnet so that the magnetic poles of the permanent magnet can attract or repel the magnetic switch.

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