Following system and operating system for mobile robot

Abstract

The utility model discloses a following system and an operation system for a mobile robot, and belongs to the technical field of engineering machinery, and the following system comprises a truss which is arranged above the mobile robot; the walking mechanism is movably arranged on the truss; the position acquisition device is used for acquiring the position of the mobile robot; the hoisting mechanism is used for winding a cable, one end of the cable is connected with the mobile robot through the walking mechanism, the hoisting mechanism is in communication connection with the position collecting device, and the hoisting mechanism and the walking mechanism act according to the position, collected by the position collecting device, of the mobile robot. Through the truss, the walking mechanism, the position collecting device and the hoisting mechanism, the possibility that a cable connected with the mobile robot through the walking mechanism is wound with other equipment or is worn due to dragging can be reduced, and the safety when the mobile robot is powered through the cable is improved.

Description

Technical Field

[0001] The present application relates to the technical field of engineering machinery, and in particular to a following system and an operating system for a mobile robot. Background Art

[0002] In the field of engineering machinery, the application of a large number of industrial robots has replaced some high-intensity, batch manual operations. Mobile robots, due to their lightness, flexibility, convenience and portability, have greatly increased the robot's operating space, saved site space and reduced cost investment.

[0003] At present, mobile robots are generally driven by batteries. Batteries have the characteristics of low power density, long single charging time, large volume and weight, and discharge as direct current. However, in the field of engineering machinery, mobile robots usually need to perform high-intensity work, and the use of energy batteries such as batteries does not meet the use requirements of mobile robots. Therefore, using cables to power mobile robots is a preferred choice in the field of engineering machinery. Mobile robots are affected by the length of cables. In order to ensure the mobile space of mobile robots, longer cables are usually used to connect mobile robots. However, if the cable is too long, it is easy to get entangled and interfere with other equipment, and because it is dragged and rubbed on the ground, it is easy to cause the cable skin to wear, resulting in the risk of leakage of the cable. In summary, the existing technology has the problem of insufficient safety when powering mobile robots through cables. Utility Model Content

[0004] The purpose of the embodiments of the present application is to provide a following system and an operating system for a mobile robot, so as to solve the problem of insufficient safety when the mobile robot is powered by a cable in the prior art.

[0005] In order to achieve the above-mentioned object, the present application provides a following system for a mobile robot in a first aspect, comprising:

[0006] A truss is disposed above the mobile robot;

[0007] Walking mechanism, movable and arranged on the truss;

[0008] A position acquisition device, used for acquiring the position of the mobile robot;

[0009] The hoisting mechanism is used for winding the cable. One end of the cable is connected to the mobile robot via the walking mechanism. The hoisting mechanism is communicatively connected to the position acquisition device. The hoisting mechanism and the walking mechanism move according to the position of the mobile robot acquired by the position acquisition device.

[0010] In an embodiment of the present application, the walking mechanism includes: a first direction walking unit, arranged on the truss, for moving in a first direction of the truss; a second direction walking unit, arranged on the first direction walking unit, for moving in a second direction of the truss.

[0011] In an embodiment of the present application, the following system also includes a balancing crane, one end of which is connected to the second direction walking unit, and the other end of which is connected to the cable.

[0012] In an embodiment of the present application, the following system further includes a force detection device disposed on the balancing crane for measuring the tension of the cable.

[0013] In the embodiment of the present application, the position acquisition device is arranged on the walking mechanism.

[0014] A second aspect of the present application provides an operation system, including: a mobile robot; and a following system for the mobile robot.

[0015] In the embodiment of the present application, a feature identifier is provided on the mobile robot, and the position acquisition device acquires the position of the mobile robot by acquiring the position of the feature identifier.

[0016] In an embodiment of the present application, the operating system also includes a power box, and the other end of the cable in the system is connected to the power box.

[0017] In the embodiment of the present application, the mobile robot is a mobile welding robot.

[0018] In an embodiment of the present application, the operating system also includes a welding workbench, which is connected to a power box via a welding ground wire. A welding workpiece is arranged on the welding workbench, and a mobile welding robot is used to weld the welding workpiece.

[0019] The above technical solution collects the position of the mobile robot through the position acquisition device, so that the walking mechanism arranged on the truss and the hoisting mechanism for winding the cable can move according to the position of the mobile robot, thereby reducing the possibility of the cable connected to the mobile robot through the walking mechanism being entangled with other equipment or being worn due to dragging, thereby improving the safety of powering the mobile robot through the cable.

[0020] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. In the accompanying drawings:

[0022] Figure 1 A schematic diagram of the structure of a following system for a mobile robot according to an embodiment of the present application is shown;

[0023] Figure 2 A schematic diagram of the structure of an operating system according to an embodiment of the present application is shown;

[0024] Figure 3 The structural diagram of a mobile welding robot operation system according to an embodiment of the present application is schematically shown.

[0025] Description of Reference Numerals

[0026] 1 Truss 2 Position acquisition device

[0027] 3 Mobile robot 4 Winch mechanism

[0028] 5 Cable 6 First direction travel unit

[0029] 7 Second direction travel unit 8 Balance crane

[0030] 9 Force detection device 10 Feature identification

[0031] 11 Power box 12 Welding workbench

[0032] 13 Welding ground wire 14 Welding workpiece

[0033] 15 Multi-joint robotic arm 16 Welding machine and welding device DETAILED DESCRIPTION

[0034] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the specific implementation methods described herein are only used to illustrate and explain the embodiments of the present application, and are not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0035] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0036] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0037] Figure 1 The following diagram schematically shows a structural diagram of a following system for a mobile robot according to an embodiment of the present application. Figure 1 As shown, an embodiment of the present application provides a following system for a mobile robot, which may include:

[0038] The truss 1 is arranged above the mobile robot 3 .

[0039] The walking mechanism is movably arranged on the truss 1.

[0040] The position acquisition device 2 is used to acquire the position of the mobile robot 3 .

[0041] The hoisting mechanism 4 is used to wind the cable 5. One end of the cable 5 is connected to the mobile robot 3 via the walking mechanism. The hoisting mechanism 4 is in communication connection with the position acquisition device 2. The hoisting mechanism 4 and the walking mechanism move according to the position of the mobile robot 3 acquired by the position acquisition device 2.

[0042] In the embodiment of the present application, the mobile robot can be various types of mobile robots, such as a mobile welding robot, a mobile grinding robot or a transport robot. The following system for the mobile robot can include a truss 1, a walking mechanism, a position acquisition device 2 and a hoisting mechanism 4. The truss 1 is arranged above the mobile robot 3, and has a first direction along the length of the truss 1 and a second direction along the width of the truss 1. The mobile robot 3 can move and operate within the range of the truss 1. The walking mechanism is arranged on the truss 1 and can move on the truss 1. The position acquisition device 2 can use a visual sensor, a position sensor or other devices that can be used to detect the position of the mobile robot 3. When the mobile robot 3 is powered by the cable 5, one end of the cable 5 is wound by the hoisting mechanism 4, and the other end is connected to the mobile robot 3 through the walking mechanism. The hoisting mechanism 4 is connected to the position acquisition device 2 in communication. After the position acquisition device 2 acquires the position of the mobile robot 3, according to the position of the mobile robot 3 sent by the position acquisition device 2, the hoisting mechanism 4 can realize the forward and reverse rotation of the hoisting through the servo transmission device, and then retract the cable 5. In this process, since the base of the hoisting mechanism 4 is provided with a follow-up rotating device, the hoisting mechanism 4 can rotate and follow along the third direction of the center of the base with the tension of the cable 5. The third direction is the direction vertical to the center of the base and upward. At the same time, the walking mechanism can move in the first direction and the second direction of the truss 1 according to the position of the mobile robot 3. In this way, the following system can drive the cable 5 connected to the mobile robot 3, reducing the risk of leakage caused by the cable 5 being entangled with other equipment or wearing the surface during the movement of the mobile robot 3.

[0043] The above technical solution collects the position of the mobile robot 3 through the position acquisition device 2, so that the walking mechanism set on the truss 1 and the hoisting mechanism 4 for winding the cable 5 can move according to the position of the mobile robot 3, thereby reducing the possibility of the cable 5 connected to the mobile robot 3 through the walking mechanism being entangled with other equipment or being worn due to dragging, thereby improving the safety when supplying power to the mobile robot 3 through the cable 5.

[0044] In an embodiment of the present application, the walking mechanism may include: a first direction walking unit 6, arranged on the truss 1, for moving in the first direction of the truss 1; a second direction walking unit 7, arranged on the first direction walking unit 6, for moving in the second direction of the truss 1.

[0045] Specifically, the walking mechanism includes a first direction walking unit 6 and a second direction walking unit 7. Both ends of the first direction walking unit 6 are connected to the first direction of the truss 1. It should be noted that the first direction walking unit 6 is not fixedly connected to the truss 1, and the first direction walking unit 6 can move in the first direction of the truss 1. Similarly, in order to enable the second direction walking unit 7 to move, the second direction walking unit 7 is movably arranged on the first direction walking unit 6, and it can move along the second direction of the truss 1.

[0046] In the embodiment of the present application, the following system may further include a balancing crane 8 , one end of the balancing crane 8 is connected to the second direction walking unit 7 , and the other end is connected to the cable 5 .

[0047] Specifically, the following system may further include a balance crane 8. One end of the balance crane 8 is fixedly connected to the upper surface of the second direction traveling unit 7, and the other end is connected to the cable 5. Through the balance crane 8, the cable 5 from the hoisting mechanism 4 to the balance crane 8 can be placed above the first direction traveling unit 6, reducing the possibility of the cable 5 being entangled with the traveling mechanism.

[0048] In the embodiment of the present application, the following system may further include a force detection device 9 disposed on the balancing crane 8 for measuring the tension of the cable 5 .

[0049] Specifically, the following system further includes an alarm device (not shown in the figure) and a force detection device 9 provided on the balance crane 8. The force detection device 9 can be used to measure the tension of the cable 5. If the tension of the cable 5 is greater than a preset tension threshold, the alarm device can send an alarm signal to remind the staff that the current cable 5 has a safety risk.

[0050] In the embodiment of the present application, the position acquisition device 2 can be arranged on the walking mechanism.

[0051] Specifically, the position acquisition device 2 can be connected to the second direction walking unit 7, and the acquisition angle of the position acquisition device 2 is perpendicular to the ground. When the walking mechanism is in motion, the walking mechanism can drive the position acquisition device 2 connected to the second direction walking unit 7 to move, so that the mobile robot 3 is always within the acquisition range of the position acquisition device 2.

[0052] Figure 2 The schematic diagram shows a structure of an operation system according to an embodiment of the present application. Figure 2 As shown, an embodiment of the present application further provides a working system, which may include: a mobile robot 3; and a following system for the mobile robot.

[0053] Specifically, the operating system may include a mobile robot 3 and a following system for the mobile robot. The mobile robot 3 includes a mobile chassis. Through the mobile chassis, the mobile robot 3 can move within the range of the truss 1 and perform operating tasks as required. During the operation of the mobile robot 3, the mobile robot 3 can be connected via a cable 5 to power the mobile robot 3. At the same time, a following system connected to the mobile robot 3 via a cable 5 can be used. By collecting the position of the mobile robot 3 through the following system and moving along with the position of the mobile robot 3, the operating safety of the mobile robot 3 can be improved, and the risk of leakage caused by the cable 5 being entangled with other equipment or abrading the surface during the movement of the mobile robot 3 can be reduced.

[0054] In the embodiment of the present application, a feature identifier 10 may be provided on the mobile robot 3 , and the position acquisition device 2 acquires the position of the mobile robot 3 by acquiring the position of the feature identifier 10 .

[0055] Specifically, the mobile robot 3 is provided with a feature identifier 10. The feature identifier 10 may be a feature identifier block or a feature identifier point. The position acquisition device 2 may determine the position of the mobile robot 3 by determining the position of the feature identifier 10 within the acquisition range, so that the following system may act according to the position of the mobile robot 3.

[0056] In the embodiment of the present application, the operating system may further include a power supply box 11 , and the other end of the cable 5 in the following system is connected to the power supply box 11 .

[0057] Specifically, the operating system is further provided with a power box 11. One end of the cable 5 is wound by the hoisting mechanism 4, and the other end of the cable 5 is connected to the power box 11, so that the power output by the power box 11 is transmitted to the mobile robot 3 via the following system, thereby supplying power to the mobile robot 3.

[0058] Figure 3 The structure diagram of a mobile welding robot operation system according to an embodiment of the present application is schematically shown. Figure 3 As shown, in the embodiment of the present application, the mobile robot 3 is a mobile welding robot.

[0059] Specifically, the mobile robot 3 may be a mobile welding robot. The mobile welding robot can be used to perform welding operations.

[0060] In the embodiment of the present application, the operating system also includes a welding workbench 12, which is connected to the power box 11 via a welding ground wire 13. A welding workpiece 14 is arranged on the welding workbench 12, and the mobile welding robot is used to weld the welding workpiece 14.

[0061] Specifically, the operating system may further include a welding workbench 12. The welding workbench 12 is connected to the power box 11 via a welding ground wire 13. Furthermore, the cable 5 may include a mobile robot power line and a welding machine ground wire, and the welding machine ground wire may be connected to the welding ground wire 13 to form a welding closed loop. The mobile welding robot may include a feature identifier 10, a mobile chassis, and welding equipment. The mobile chassis is equipped with welding equipment and feature identifiers 10. The welding equipment includes a multi-joint robotic arm 15 and a welding machine and welding device 16. The welding machine and welding device 16 may control the multi-joint robotic arm 15 to perform welding operations. During the welding operation, the welding workpiece 14 is arranged on the welding workbench 12, and the mobile welding robot may complete the welding of the welding workpiece 14 through the welding equipment.

[0062] In summary, compared with the prior art, the technical solution proposed in this application has the following advantages:

[0063] 1) This application uses cables to power the mobile robot, effectively solving the problems of poor stability and limited energy consumption of the mobile robot's energy battery.

[0064] 2) The use of aerial cable routing can solve the problems of limited mobile robot movement space due to cable length, leakage risk caused by cable dragging on the ground causing cable surface wear, and entanglement and interference between cables and other equipment.

[0065] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0066] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A following system for a mobile robot, characterized in that: include: A truss is arranged above the mobile robot; A walking mechanism, movably arranged on the truss; A position acquisition device, used for acquiring the position of the mobile robot; The hoisting mechanism is used to wind the cable, one end of the cable is connected to the mobile robot via the walking mechanism, the hoisting mechanism is communicatively connected to the position acquisition device, and the hoisting mechanism and the walking mechanism move according to the position of the mobile robot acquired by the position acquisition device.

2. The following system according to claim 1, characterized in that: The walking mechanism comprises: A first direction walking unit, arranged on the truss, and used for moving in a first direction of the truss; The second direction walking unit is arranged on the first direction walking unit, and is used for moving in the second direction of the truss.

3. The following system according to claim 2, characterized in that: The following system further comprises a balancing crane, one end of which is connected to the second direction walking unit, and the other end of which is connected to the cable.

4. The following system according to claim 3, characterized in that: The following system further comprises a force detection device arranged on the balancing crane, for measuring the tension of the cable.

5. The following system according to claim 1, characterized in that: The position acquisition device is arranged on the walking mechanism.

6. An operating system, characterized in that: include: Mobile robots; A following system for a mobile robot according to any one of claims 1 to 5.

7. The operating system according to claim 6, characterized in that: The mobile robot is provided with a characteristic mark, and the position acquisition device acquires the position of the mobile robot by acquiring the position of the characteristic mark.

8. The operating system according to claim 6, characterized in that: The operating system also includes a power supply box, and the other end of the cable in the follower system is connected to the power supply box.

9. The operating system according to claim 8, characterized in that: The mobile robot is a mobile welding robot.

10. The operating system according to claim 9, characterized in that: The operating system also includes a welding workbench, which is connected to the power box via a welding ground wire. A welding workpiece is arranged on the welding workbench, and the mobile welding robot is used to weld the welding workpiece.

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