Positioning device for guide rail robot

Abstract

The utility model relates to a positioning device for a guide rail robot, belongs to the technical field of positioning of guide rail robots, and solves the problem of inaccurate positioning caused by signal shielding and signal interference when an existing mining guide rail robot uses an RFID (Radio Frequency Identification Device) tag to position a rail. The device comprises a first bracket and a second bracket, the first bracket comprises a first main body, an RFID tag and an identification strip; the second bracket comprises a second main body, an RFID antenna and a photoelectric sensor; and after the RFID antenna identifies the radio frequency signal of the RFID tag and the photoelectric sensor identifies the identification strip, the positioning device acquires and records the position information of the first bracket. The RFID tags and the photoelectric sensors are arranged on the first support and the second support, the RFID tags determine the initial position, the photoelectric sensors further conduct accurate positioning, the adaptability of the positioning device to the complex environment is improved, and the positioning accuracy is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of guide rail robot positioning, especially a positioning device for guide rail robot. BACKGROUND

[0002] The mine guide rail robot runs on the mine track, and its running environment is complex. When the mine guide rail robot is positioned by RFID tag positioning, the following problems may occur:

[0003] RFID tag positioning relies on signal strength, time and other information to calculate the position. In the complex environment of the coal conveying pipe gallery, signal shielding and signal interference may easily occur, resulting in inaccurate positioning.

[0004] Therefore, how to ensure the positioning accuracy, positioning reliability and adaptability to the coal conveying pipe gallery environment when the mine guide rail robot uses RFID tags for positioning is a technical problem that needs to be solved by those skilled in the art. UTILITY MODEL CONTENT

[0005] In view of the above analysis, the utility model embodiment aims to provide a positioning device for guide rail robot to solve the technical problem that the existing mine guide rail robot uses RFID tags for positioning and is easily inaccurate in the complex coal conveying pipe gallery environment.

[0006] The purpose of the utility model is mainly realized through the following technical solutions:

[0007] A positioning device for guide rail robot comprises a first support and a second support; the first support is arranged on the upper flange of the I-shaped guide rail; the second support is arranged on the guide rail robot;

[0008] The first support comprises a first body, an RFID tag and an identification strip; the RFID tag is arranged on the lower end face of the first body;

[0009] The second support comprises a second body, an RFID antenna and a photoelectric sensor; the RFID antenna is arranged on the upper end face of the second body, and the RFID antenna is used to identify the radio frequency signal of the RFID tag; the photoelectric sensor is used to identify the identification strip;

[0010] When the RFID antenna identifies the radio frequency signal of the RFID tag, and the photoelectric sensor identifies the identification strip, the positioning device acquires and records the position information of the first support on the guide rail.

[0011] Further, the first body comprises a fixed end and a signal identification end;

[0012] The fixed end comprises a C-shaped fixing clamp fixed to the upper flange;

[0013] The signal recognition end comprises a mounting plate, one end of the mounting plate is arranged at the fixed end, and the other end of the mounting plate is arranged with the recognition strip;

[0014] The RFID tag is arranged on the lower end surface of the mounting plate.

[0015] Further, the number of the recognition strips is multiple, and the multiple recognition strips are arranged at equal intervals in the laying direction of the I-shaped guide rail.

[0016] Further, the second body is a Z-shaped steel plate.

[0017] Further, the lower wing plate of the second body is fixed on a guide rail robot, the upper wing plate of the second body is arranged towards the I-shaped guide rail, and the upper wing plate of the second body is located between the upper flange and the lower flange of the I-shaped guide rail.

[0018] Further, the second body further comprises a photoelectric sensor support arranged on the web of the second body.

[0019] Further, the second body further comprises a reinforcing plate vertically arranged between the photoelectric sensor support and the lower wing plate.

[0020] Further, the second support further comprises a cleaning piece arranged at two ends of the second support in the laying direction of the I-shaped guide rail.

[0021] Further, the cleaning piece comprises a fixed plate and a cleaning brush arranged at the lower end of the fixed plate; the fixed plate is arranged on the upper wing plate; and the cleaning brush is used for cleaning the lower flange of the I-shaped guide rail.

[0022] Further, the second support further comprises a radome covering the RFID antenna.

[0023] Compared with the prior art, the utility model can realize at least one of the following beneficial effects:

[0024] (1) The utility model discloses a positioning device for guide rail robot, including the first support of setting on the flange of I -shaped guide rail, and the second support of setting on guide rail robot, set RFID label and identification strip on the first main body of first support, and RFID label is located the lower end surface of first main body, and guide rail robot walks at the lower flange of I -shaped guide rail, when the RFID antenna on second support identifies the radio frequency signal of RFID label, photoelectric sensor identifies identification strip in a certain time (such as: 300 milliseconds), and then positioning information is effective positioning information, and the positioning device obtains and records the position information of first support on guide rail, RFID label is combined with photoelectric sensor, and RFID determines the preliminary position, and photoelectric sensor further accurately positions, and improves the overall positioning precision.

[0025] (2) The utility model discloses a positioning device for guide rail robot, set RFID label at the lower end surface of first main body, and set antenna cover on RFID antenna, avoid the influence of complex environment in coal pipe gallery to RFID antenna identification radio frequency signal of RFID label.

[0026] (3) The utility model discloses a positioning device for guide rail robot, set a plurality of identification strips on first support, when RFID antenna identifies the radio frequency signal of RFID label, photoelectric sensor identifies a plurality of identification strips in a certain time, complete once effective position identification, and the positioning device obtains and records position information, greatly reduce the probability of error position identification, improve the accuracy of positioning device positioning.

[0027] (4) The utility model discloses a positioning device for guide rail robot, set cleaning piece on second support, remove the barrier of the lower flange of I -shaped guide rail in the operation of guide rail robot, avoid the barrier as interference signal, lead to the emergence of the phenomenon of positioning device positioning error.

[0028] In the utility model, the above technical solutions can be combined with each other to realize more preferred combination solutions. Other features and advantages of the utility model will be described in the following content, and some advantages can become apparent from the description or be understood by implementing the utility model. The purpose and other advantages of the utility model can be realized and obtained through the content specially pointed out in the text and the drawings. DRAWINGS

[0029] The drawings are only used for the purpose of showing specific embodiments and are not considered as limiting the utility model, and the same reference signs represent the same parts throughout the drawings.

[0030] Figure 1 It is the structural schematic diagram of the positioning device for guide rail robot of specific embodiment;

[0031] Figure 2 This is a schematic diagram of the structure of the first support in a specific embodiment;

[0032] Figure 3 This is a schematic diagram of the structure of the second bracket in a specific embodiment.

[0033] Figure label:

[0034] 1-First bracket; 11-First main body; 111-Fixed end; 112-Signal identification end; 1121-Mounting plate; 12-RFID tag; 13-Identification strip;

[0035] 2-Second bracket; 21-Second main body; 211-Upper wing plate; 212-Lower wing plate; 213-Body plate; 214-Photoelectric sensor bracket; 215-Reinforcing plate; 22-RFID antenna; 23-Antenna cover; 24-Photoelectric sensor; 25-Cleaning component; 251-Fixing plate; 252-Cleaning brush;

[0036] 3- Upper flange of I-shaped guide rail;

[0037] 4-I-shaped guide rail lower flange. Detailed Implementation

[0038] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which constitute a part of the present invention and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not intended to limit the scope of the present invention.

[0039] A specific embodiment of this utility model is as follows: Figure 1 As shown, a positioning device for a guide rail robot is disclosed, comprising: a first support 1 and a second support 2; the first support 1 is disposed on the flange 3 of an I-shaped guide rail; the second support 2 is disposed on the guide rail robot;

[0040] The first bracket 1 includes a first body 11, an RFID tag 12, and an identification strip 13; the RFID tag 12 is disposed on the lower end face of the first body 11;

[0041] The second bracket 2 includes a second body 21, an RFID antenna 22, an antenna cover 23, and a photoelectric sensor 24; the RFID antenna 22 is disposed on the upper surface of the second body 21, and the RFID antenna 22 is used to identify the radio frequency signal of the RFID tag 12; the antenna cover 23 covers the RFID antenna 22; the photoelectric sensor 24 is used to identify the identification strip 13;

[0042] Wherein, the RFID antenna 22 identifies the radio frequency signal of the RFID tag 12, and the photoelectric sensor 24 identifies the identification strip 13, and the positioning device obtains and records the position information of the first support 1 on the guide rail.

[0043] The positioning device for guide rail robot of the utility model, it is in the upper flange of I-shaped guide rail set first support 1, set second support 2 on guide rail robot;Set RFID tag 12 and identification strip 13 on the first main body 11 of first support 1, and RFID tag 12 is located at the lower end surface of first main body 11, guide rail robot walks at the lower flange of I-shaped guide rail, when the RFID antenna 22 on second support 2 identifies the radio frequency signal of RFID tag 12, photoelectric sensor 24 identifies identification strip 13 within a certain time (such as 300 milliseconds), and the positioning device records the position information of first support 1 on the guide rail;RFID tag 12 is combined with photoelectric sensor 24, RFID determines the preliminary position, and photoelectric sensor 24 further accurately positions, improves the overall positioning accuracy.

[0044] In addition, in order to better adapt to the complex coal conveying pipe corridor environment, the RFID tag 12 is arranged on the lower end surface of the first main body 11, and the antenna cover 23 is arranged on the RFID antenna 22, so as to avoid the influence of the complex environment in the coal conveying pipe corridor on the identification of the radio frequency signal emitted by the RFID tag 12 by the RFID antenna 22.

[0045] As shown in the embodiment, Figure 2 The first main body 11 includes a fixed end 111 and a signal identification end 112.

[0046] The fixed end 111 includes a C-shaped fixing clamp, and the C-shaped fixing clamp is fixed to the upper flange 3 of the I-shaped guide rail.

[0047] The signal identification end 112 includes a mounting plate 1121, one end of the mounting plate 1121 is arranged on the fixed end 111, and the other end of the mounting plate 1121 is arranged with the identification strip 13.

[0048] The RFID tag 12 is arranged on the lower end surface of the mounting plate 1121.

[0049] The RFID tag 12 is arranged on the mounting plate 1121, so that the RFID tag 12 extends a distance away from the guide rail from the upper flange, so as to ensure that the RFID tag 12 corresponds to the RFID antenna 22 arranged on the guide rail robot, and ensure the reading efficiency and accuracy of the radio frequency signal.

[0050] In the embodiment, the number of the identification strips 13 is multiple, and the multiple identification strips 13 are arranged at equal intervals in the laying direction of the I-shaped guide rail. Preferably, the number of the identification strips 13 is two, and the photoelectric sensor 24 identifies the two identification strips 13 in succession, and the identification time difference of the two identification strips 13 is 50-70 milliseconds, preferably 50 milliseconds.

[0051] The RFID antenna 22 identifies the radio frequency signal of the RFID tag 12, and the photoelectric sensor 24 identifies the two identification strips 13 in succession within 300 milliseconds, so that it is determined that the information identified by the positioning device is valid information, and the positioning device records the position information of the first support 1 on the guide rail.

[0052] In the embodiment, as shown in Figure 3 The second body 21 is a Z-shaped steel plate.

[0053] In the embodiment, the lower wing plate 212 of the second body 21 is fixed on the guide rail robot, the upper wing plate 211 of the second body 21 is arranged towards the I-shaped guide rail, and the upper wing plate 211 of the second body 21 is located between the upper flange and the lower flange of the I-shaped guide rail.

[0054] The RFID antenna 22 is arranged on the upper end surface of the upper wing plate 211, so as to ensure the identification distance between the RFID tag 12 and the RFID antenna 22.

[0055] In the embodiment, the photoelectric sensor support 214 is arranged on the web plate 213 of the second body 21.

[0056] In the embodiment, the second body 21 further comprises a reinforcing plate 215, which is vertically arranged between the photoelectric sensor support 214 and the lower wing plate 212.

[0057] The reinforcing plate 215 and the photoelectric sensor support 214 jointly support and fix the photoelectric sensor 24.

[0058] In the embodiment, the second support 2 further comprises a cleaning member 25, which is arranged at both ends of the second support 2 along the extension direction of the I-shaped guide rail.

[0059] In the embodiment, the cleaning member 25 comprises a fixed plate 251 and a cleaning brush 252 arranged at the lower end of the fixed plate 251; the fixed plate 251 is arranged on the upper wing plate 211; and the cleaning brush 252 is used for cleaning the upper end surface of the lower flange of the I-shaped guide rail.

[0060] On the guide rail, no matter which direction the guide rail robot runs, the cleaning member 25 can clean the lower flange of the I-shaped guide rail.

[0061] In the embodiment, the photoelectric sensor 24 can recognize the identification strip 13 when the distance between the photoelectric sensor 24 and the identification strip 13 reaches a predetermined distance, for example, the predetermined distance is 3-5 cm.

[0062] The above merely provides the preferred embodiment of the present application, and the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of the changes or replacements within the technical range disclosed by the present application, which shall be covered within the protection scope of the present application.

Claims

1. A positioning device for a rail robot, characterized in that The utility model relates to a positioning device for I-shaped guide rail, which comprises: a first support (1) and a second support (2); the first support (1) is arranged on the upper flange (3) of the I-shaped guide rail; the second support (2) is arranged on the guide rail robot; the first support (1) comprises a first body (11), an RFID tag (12) and an identification strip (13); the RFID tag (12) is arranged on the lower end surface of the first body (11); the second support (2) comprises a second body (21), an RFID antenna (22) and a photoelectric sensor (24); the RFID antenna (22) is arranged on the upper end surface of the second body (21), and the RFID antenna (22) is used for identifying the radio frequency signal of the RFID tag (12); the photoelectric sensor (24) is used for identifying the identification strip (13); after the RFID antenna (22) identifies the radio frequency signal of the RFID tag (12) and the photoelectric sensor (24) identifies the identification strip (13), the positioning device acquires and records the position information of the first support (1) on the guide rail.

2. The guide robot positioning device according to claim 1, characterized in that the first body (11) comprises a fixed end (111) and a signal identification end (112); the fixed end (111) comprises a C-shaped fixing clamp, and the C-shaped fixing clamp is fixed to the upper flange (3) of the I-shaped guide rail; the signal identification end (112) comprises a mounting plate (1121), one end of the mounting plate (1121) is arranged on the fixed end (111), and the other end of the mounting plate (1121) is arranged with the identification strip (13); wherein, the RFID tag (12) is arranged on the lower end surface of the mounting plate (1121).

3. The guide rail robot positioning device according to claim 2, wherein The number of identification strips (13) is multiple, and the multiple identification strips (13) are arranged at equal intervals in the laying direction of the I-shaped guide rail.

4. The guide robot positioning device according to claim 1, wherein The second body (21) is a Z-shaped steel plate.

5. The guide rail robot positioning device according to claim 4, wherein the lower flange plate (212) of the second body (21) is fixed on the guide rail robot, the upper flange plate (211) of the second body (21) faces the I-shaped guide rail, and the upper flange plate (211) of the second body (21) is located between the upper flange and the lower flange of the I-shaped guide rail.

6. The guide rail robot positioning device according to claim 5, wherein The second body (21) further comprises a photoelectric sensor support (214), and the photoelectric sensor support (214) is arranged on the web (213) of the second body (21).

7. The guide rail robot positioning device according to claim 6, wherein The second body (21) further comprises a reinforcing plate (215), and the reinforcing plate (215) is vertically arranged between the photoelectric sensor support (214) and the lower flange plate (212).

8. The guide robot positioning device according to claim 5, wherein The second support (2) further comprises a cleaning piece (25), and the cleaning piece (25) is arranged at both ends of the second support (2) along the extension direction of the I-shaped guide rail.

9. The guide robot positioning device according to claim 8, wherein The cleaning piece (25) comprises a fixed plate (251) and a cleaning brush (252) arranged at the lower end of the fixed plate (251); the fixed plate (251) is arranged on the upper flange plate (211); and the cleaning brush (252) is used for cleaning the lower flange of the I-shaped guide rail.

10. The guide robot positioning device according to claim 1, wherein The second bracket (2) further comprises a radome (23) which covers the RFID antenna (22).

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