Intelligent paying-off robot

Abstract

The utility model relates to the technical field of paying-off robots, and particularly discloses an intelligent paying-off robot which comprises an intelligent vehicle body, a discharging assembly and a parallel robot assembly, the discharging assembly is used for automatically discharging lime for line drawing and is fixedly connected in the intelligent vehicle body, and the robot assembly is connected in parallel with the discharging assembly. The parallel robot assembly is used for adjusting the discharging position of the discharging assembly, the parallel robot assembly is fixedly connected to the intelligent vehicle body, and lime enters a discharging pipe along a corrugated pipe and is discharged through a window type butterfly valve for paying off. The storage amount of lime in the storage box is detected through the ultrasonic sensor, the intelligent vehicle body can be conveniently controlled to return to the loading area to supplement the lime, unclear line laying caused by insufficient lime content in the storage box is prevented, the window type butterfly valve arranged at the bottom of the discharging pipe can be automatically opened and closed, and then automatic line drawing of the lime is facilitated.

Description

Technical Field

[0001] The utility model relates to the technical field of wire-laying robots, in particular to an intelligent wire-laying robot. Background Art

[0002] The intelligent wire-laying vehicle uses QFRTK base station and mobile station for navigation and positioning. The base station is set up near the construction site, and the mobile station is installed at the front and rear of the intelligent wire-laying vehicle and connected to the main control (single-chip microcomputer). RTK provides longitude, latitude and angle to the single-chip microcomputer, which extracts the position information in real time, controls the vehicle to the specified position, and calculates the next direction of the vehicle.

[0003] Each wheel is equipped with a separate motor drive, so a single-chip microcomputer is needed to control the speed of the motor, for example, deceleration control before reaching its designated position, and the angle at which each wheel needs to rotate corresponds to the angle of the motor when turning. Therefore, as long as the longitude and latitude are input into the control system, and the single-chip microcomputer is used to correspond the position information, the corresponding destination can be reached. When the intelligent wire-laying vehicle is working, if there is insufficient white ash in the storage box, the white ash line will be unclear due to untimely addition. For this reason, we propose an intelligent wire-laying robot. Utility Model Content

[0004] The purpose of the utility model is to provide an intelligent wire-laying robot to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: an intelligent line-laying robot, comprising an intelligent body, a material discharge component, the material discharge component is used to automatically discharge the white lime used for drawing lines, the material discharge component is fixedly connected to the intelligent body, and a parallel robot component is used to adjust the discharge position of the material discharge component, the parallel robot component is fixedly connected to the intelligent body.

[0006] Preferably, the material discharge component includes a hopper, which is fixedly connected to the intelligent vehicle body, the hopper is fixedly connected to a material storage box, the hopper is fixedly connected to a bellows, the bellows is fixedly connected to a material discharge pipe, the material discharge pipe is provided with a window type butterfly valve, and the material storage box is fixedly connected to an ultrasonic sensor.

[0007] Preferably, a load-bearing beam is fixedly connected to the smart vehicle body.

[0008] Preferably, a battery is installed on the load-bearing beam.

[0009] Preferably, the parallel robot assembly includes a mounting frame, which is fixedly connected to the intelligent vehicle body, a servo motor is fixedly connected to the mounting frame, a transmission arm is installed at the output end of the servo motor, a first ball joint pair is installed on the transmission arm, a connecting rod is fixedly connected to the first ball joint pair, a second ball joint pair is installed at the end of the connecting rod away from the first ball joint pair, and a moving platform is installed on the second ball joint pair.

[0010] Preferably, a load-bearing bracket is fixedly connected to the smart vehicle body.

[0011] Preferably, a double wishbone suspension beam is installed in the load-bearing bracket, a storage rack is hinged on the double wishbone suspension beam, a double traction beam is installed on the storage rack, and the double traction beam and the storage rack are hingedly connected.

[0012] Preferably, a driving motor is installed in the storage rack, and a wheel is installed at the output end of the driving motor.

[0013] The utility model has at least the following beneficial effects:

[0014] 1. When the whole mechanism moves to the initial position of drawing the line, the external control module opens the window butterfly valve at the bottom of the discharge pipe, and the lime enters the discharge pipe along the bellows and is discharged through the window butterfly valve for line laying. The smart vehicle body travels along the specified route. When it reaches the end position of line laying, the window butterfly valve closes. When the ultrasonic sensor detects that there is not enough lime in the storage box, the smart vehicle body records the current position information and controls the smart vehicle body to return to the loading area to replenish the lime.

[0015] By installing an ultrasonic sensor in the storage box and using it to detect the amount of lime in the storage box, it is convenient to control the intelligent vehicle body to return to the loading area to replenish the lime, thereby preventing unclear line laying due to insufficient lime content in the storage box. The window-type butterfly valve set at the bottom of the discharge pipe can open and close automatically, thereby facilitating automatic line drawing of the lime.

[0016] 2. Three servo motors are used to control the three transmission arms to rotate around the rotating joints. The ends of the three pairs of connecting rods are connected to the moving platform using the second ball joint pair. Since each pair of connecting rods is parallel and equal in length, under the action of gravity, each pair of connecting rods, the end of the transmission arm and the moving platform form a parallelogram mechanism, so that the moving platform is always in a horizontal state. Therefore, the moving platform only has the freedom of movement along three directions in three-dimensional space, and has no rotational freedom.

[0017] By controlling the rotation of the servo motor, the rotation angle of the three transmission arm rotation joints can be controlled, thereby controlling the moving platform to move in three directions in three-dimensional space. By fixing the moving platform and the bottom of the discharge tube, the independent control of the three servo motors can limit the movement freedom of the moving platform, thereby changing the discharge direction of the discharge tube. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of the utility model.

[0019] Figure 2 It is a structural schematic diagram of the intelligent vehicle body, the load-bearing beam and the battery in the utility model.

[0020] Figure 3 It is a schematic diagram of the structure of the bellows, the feed pipe and the window-type butterfly valve in the utility model.

[0021] Figure 4 It is a structural schematic diagram of the transmission arm, the first ball joint pair and the connecting rod in the utility model.

[0022] Figure 5 It is a schematic diagram of the structure of the wheels, drive motor and storage rack in the utility model.

[0023] Figure 6 It is a structural schematic diagram of the load-bearing bracket, the double wishbone suspension beam and the double traction beam in the utility model.

[0024] In the figure: 1-feeding assembly; 2-parallel robot assembly; 3-intelligent vehicle body; 4-hopper; 5-storage box; 6-bellows; 7-feeding pipe; 8-window butterfly valve; 9-ultrasonic sensor; 10-load-bearing beam; 11-battery; 12-mounting frame; 13-servo motor; 14-transmission arm; 15-first ball joint pair; 16-connecting rod; 17-second ball joint pair; 18-moving platform; 19-load-bearing bracket; 20-double wishbone suspension beam; 21-storage rack; 22-double traction beam; 23-drive motor; 24-wheel. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0026] Example 1: Please refer to Figure 1-Figure 6 The utility model provides a technical solution for an intelligent wire-laying robot: the intelligent wire-laying robot includes an intelligent body 3, a material-cutting component 1, the material-cutting component 1 is used to automatically discharge the white lime used for drawing lines, the material-cutting component 1 is fixedly connected to the intelligent body 3, and a parallel robot component 2, the parallel robot component 2 is used to adjust the discharging position of the material-cutting component 1, and the parallel robot component 2 is fixedly connected to the intelligent body 3.

[0027] The material discharge component 1 includes a hopper 4, which is fixedly connected to the intelligent vehicle body 3. The hopper 4 is fixedly connected to a storage box 5, a bellows 6 is fixedly connected to the hopper 4, a discharge pipe 7 is fixedly connected to the bellows 6, a window-type butterfly valve 8 is arranged in the discharge pipe 7, and an ultrasonic sensor 9 is fixedly connected to the storage box 5. When the whole mechanism moves to the initial position of the drawing line, the external control module opens the window-type butterfly valve 8 at the bottom of the discharge pipe 7, and then the white ash in the storage box 5 enters the bellows 6 through the hopper 4, and the white ash enters the discharge pipe 7 along the bellows 6, and then the white ash is discharged through the window-type butterfly valve 8 for discharge. The intelligent vehicle body 3 travels along the prescribed route. When the window-type butterfly valve 8 reaches the end position of the line release, the intelligent vehicle body 3 continues to travel. When the ultrasonic sensor 9 detects that there is not enough white ash in the storage box 5, the intelligent vehicle body 3 records the current position information and controls the intelligent vehicle body 3 to return to the loading area to replenish the white ash. In this embodiment, by installing an ultrasonic sensor 9 in the storage box 5 and using the ultrasonic sensor 9 to detect the amount of white ash in the storage box 5, it is convenient to control the intelligent vehicle body 3 to return to the loading area to replenish the white ash. The window-type butterfly valve 8 arranged at the bottom of the discharge pipe 7 can be opened and closed automatically, thereby facilitating the automatic drawing of white ash lines.

[0028] A load-bearing beam 10 is fixedly connected to the smart car body 3 . Two load-bearing beams 10 are arranged on the smart car body 3 . The load-bearing beams 10 are designed to install batteries 11 .

[0029] A battery 11 is installed on the load-bearing beam 10 , and the battery 11 provides power for the intelligent vehicle body 3 to move forward.

[0030] Embodiment 2: The parallel robot assembly 2 includes a mounting frame 12, the mounting frame 12 is fixedly connected to the intelligent vehicle body 3, a servo motor 13 is fixedly connected to the mounting frame 12, a transmission arm 14 is installed at the output end of the servo motor 13, a first ball joint 15 is installed on the transmission arm 14, a connecting rod 16 is fixedly connected to the first ball joint 15, a second ball joint 17 is installed at one end of the connecting rod 16 away from the first ball joint 15, and a moving platform 18 is installed on the second ball joint 17. According to the above embodiment, three servo motors 13 are used to control the three transmission arms 14 to rotate around the rotating joint, and the end of each transmission arm 14 is connected to a pair of parallel and equal-length connecting rods 16 by the first ball joint 15 for movement, and the ends of the three pairs of connecting rods 16 are connected to the second ball joint 17. The ball joint pair 17 connects the moving platform 18. Since each pair of connecting rods 16 are parallel and of equal length, under the action of gravity, each pair of connecting rods 16, the end of the transmission arm 14 and the moving platform 18 form a parallelogram mechanism, causing the moving platform 18 to always be in a horizontal state. Therefore, the moving platform 18 only has the freedom of movement along three directions in the three-dimensional space and no rotational freedom. By controlling the rotation of the servo motor 13, the rotation angle of the rotating joints of the three transmission arms 14 can be controlled, thereby controlling the moving platform 18 to move along the three directions in the three-dimensional space. By fixedly connecting the moving platform 18 and the bottom of the discharge pipe 7, the independent control of the three servo motors 13 can limit the freedom of movement of the moving platform 18, thereby changing the discharge direction of the discharge pipe 7.

[0031] A bearing bracket 19 is fixedly connected to the smart car body 3 . The bearing bracket 19 is installed at the bottom of the smart car body 3 . Two bearing brackets 19 are provided.

[0032] A double wishbone suspension beam 20 is installed in the load-bearing bracket 19, a storage rack 21 is hinged on the double wishbone suspension beam 20, a double traction beam 22 is installed on the storage rack 21, the double traction beam 22 and the storage rack 21 are hingedly connected, and double wishbone suspension beams 20 are provided on both load-bearing brackets 19, and the double traction beam 22 is installed at the bottom of the storage rack 21. The double traction beam 22 and the double wishbone suspension beam 20 are used to bear the load, and the shock absorption performance is better.

[0033] A drive motor 23 is installed in the storage rack 21, and a wheel 24 is installed at the output end of the drive motor 23. The storage rack 21 is used to install the drive motor 23, and the drive motor 23 is used to drive the wheel 24 to roll. The drive motor 23 is independently set, and can control the movement of a single wheel 24.

Claims

1. An intelligent wire-laying robot, comprising an intelligent vehicle body (3), characterized in that: A material discharge component (1), the material discharge component (1) is used to automatically discharge white ash for drawing lines, and the material discharge component (1) is fixedly connected to the intelligent vehicle body (3); A parallel robot component (2), the parallel robot component (2) is used to adjust the discharge position of the blanking component (1), and the parallel robot component (2) is fixedly connected to the intelligent vehicle body (3).

2. The intelligent wire-laying robot according to claim 1, characterized in that: The material discharge assembly (1) comprises a hopper (4), the hopper (4) being fixedly connected to the intelligent vehicle body (3), the hopper (4) being fixedly connected to a material storage box (5), the hopper (4) being fixedly connected to a bellows (6), the bellows (6) being fixedly connected to a material discharge pipe (7), the material discharge pipe (7) being provided with a window-type butterfly valve (8), and the material storage box (5) being fixedly connected to an ultrasonic sensor (9).

3. The intelligent wire-laying robot according to claim 1, characterized in that: A load-bearing beam (10) is fixedly connected to the intelligent vehicle body (3).

4. The intelligent wire-laying robot according to claim 3, characterized in that: A battery (11) is installed on the load-bearing beam (10).

5. The intelligent wire-laying robot according to claim 1, characterized in that: The parallel robot assembly (2) comprises a mounting frame (12), wherein the mounting frame (12) is fixedly connected to the intelligent vehicle body (3), a servo motor (13) is fixedly connected to the mounting frame (12), a transmission arm (14) is mounted on the output end of the servo motor (13), a first ball joint pair (15) is mounted on the transmission arm (14), a connecting rod (16) is fixedly connected to the first ball joint pair (15), a second ball joint pair (17) is mounted on one end of the connecting rod (16) away from the first ball joint pair (15), and a moving platform (18) is mounted on the second ball joint pair (17).

6. The intelligent wire-laying robot according to claim 1, characterized in that: A bearing bracket (19) is fixedly connected to the intelligent vehicle body (3).

7. The intelligent wire-laying robot according to claim 6, characterized in that: A double wishbone suspension beam (20) is installed in the load-bearing bracket (19), a storage rack (21) is hingedly connected to the double wishbone suspension beam (20), a double traction beam (22) is installed on the storage rack (21), and the double traction beam (22) and the storage rack (21) are hingedly connected.

8. The intelligent wire-laying robot according to claim 7, characterized in that: A driving motor (23) is installed in the storage rack (21), and a wheel (24) is installed at the output end of the driving motor (23).

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