Intelligent skating rink flatness measuring robot

Abstract

The utility model relates to the technical field of ice field flatness measurement, and discloses an intelligent skating field flatness measurement robot, which comprises a crawler belt advancing mechanism, a marking assembly is arranged on the top surface of the crawler belt advancing mechanism, the marking assembly comprises a fixing hole formed in the top surface of the crawler belt advancing mechanism, and a feeding box is fixed in the fixing hole. When a pit or a protrusion is detected on a certain ice surface, the crawler belt advancing mechanism stops moving, the PLC automatically marks the current virtual coordinate position, then the pneumatic clamping jaw is driven to grab one marking block to be placed on one side of the pit or the protrusion, and therefore the pit or the protrusion on the ice surface is marked. Therefore, a worker can quickly determine the approximate position of the concave part or the convex part according to the virtual coordinates, the position of the concave part or the convex part is accurately determined through the marking block, repairing work is carried out, and the efficiency of repairing work of the skating rink is effectively improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to ice field flatness measurement technical field especially intelligent skating field flatness measurement robot. BACKGROUND

[0002] As a sports activity with both competitive and recreational nature, skating has been rapidly developing worldwide in recent years. Whether it is figure skating, short track speed skating, or ice hockey and curling, the quality of the ice surface is extremely strict. Especially in professional events and daily training, the flatness of the skating field has an important influence on the performance, safety and durability of the equipment of the athletes.

[0003] The existing skating field flatness measurement usually uses a walking robot to cooperate with a flatness detector to detect. A virtual coordinate is usually set on the ice field. When the flatness detector detects the concave and convex parts on the ice surface, the virtual coordinate is recorded. After the detection is completed, manual trimming is performed. However, when the range of the concave and convex parts on the ice surface is small, it is difficult to help the staff quickly locate the concave and convex parts only by relying on the virtual coordinate, which leads to the need for the staff to repeatedly search at the virtual coordinate, which is time-consuming and laborious, and affects the efficiency of the ice surface repair work. Therefore, the utility model is proposed. UTILITY MODEL CONTENT

[0004] The utility model aims at solving the shortcomings in the prior art and provides an intelligent skating field flatness measurement robot.

[0005] In order to achieve the above-mentioned purpose, the utility model adopts the following technical scheme:

[0006] The intelligent skating field flatness measurement robot comprises a crawler traveling mechanism, the top surface of the crawler traveling mechanism is provided with a flatness detector, the top surface of the crawler traveling mechanism is fixed with a PLC controller, the PLC controller has a wireless transmission module, the top surface of the crawler traveling mechanism is further provided with a marking assembly, the marking assembly comprises a fixing hole opened in the top surface of the crawler traveling mechanism, a feeding box is fixed in the inside of the fixing hole, a plurality of marking blocks are slidably arranged in the inside of the feeding box, a support frame is fixed on the top surface of the crawler traveling mechanism, and a pneumatic clamping jaw is arranged on the bottom surface of the support frame.

[0007] As a further scheme of the utility model, a rodless cylinder is fixed in the inside of the support frame, an electric push rod is fixed on the bottom surface of the rodless cylinder slide block, the pneumatic clamping jaw is connected to one end of the electric push rod telescopic rod, a connecting plate is fixed on the front side of the support frame, and the flatness detector is fixed on the bottom end of the connecting plate.

[0008] As a further scheme of the utility model, a driving motor is fixed on one end of the electric push rod telescopic rod, and the pneumatic clamping jaw is fixed on one end of the driving motor rotating shaft.

[0009] As a further scheme of the utility model, the front and back sides of the feeding box are provided with material taking openings, the left and right sides of the feeding box are provided with driving holes, the inside of the feeding box is provided with a pushing plate, the two ends of the pushing plate are slidably arranged in the inside of the driving hole, a plurality of marking blocks are stacked on the top surface of the pushing plate, and a tension spring is fixed between the top surface of the pushing plate and the inside top surface of the driving hole.

[0010] As a further scheme of the utility model, the inside of the driving hole is fixed with a limiting rod, the pushing plate is slidably arranged on the outer wall of the limiting rod, and the tension spring is movably sleeved on the outer wall of the limiting rod.

[0011] As a further scheme of the utility model, the front side of the connecting plate is fixed with an obstacle avoidance sensor, the top surface of the crawler traveling mechanism is fixed with a buzzer, and the flatness detector, the pneumatic claw, the electric push rod, the driving motor, the obstacle avoidance sensor and the buzzer are electrically connected with the PLC controller.

[0012] Compared with the prior art, the utility model has the beneficial effects that:

[0013] The crawler traveling mechanism driving device travels on the skating rink in a predetermined path, the flatness detector is started to detect the ice surface in the traveling process, when a depression or a protrusion is detected on the ice surface at a certain position, the crawler traveling mechanism stops moving, the PLC controller automatically marks the current virtual coordinate position, then the pneumatic claw is driven to grab a marking block and place it on one side of the depression or the protrusion part, so that the depression or the protrusion on the ice surface is marked, thereby facilitating the staff to quickly determine the approximate position of the depression or the protrusion part according to the virtual coordinate, accurately determine the position of the depression or the protrusion part through the marking block, and perform repair work, thereby effectively increasing the efficiency of the skating rink repair work. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 It is a three-dimensional structure schematic view of the intelligent skating rink site flatness measuring robot provided by the utility model;

[0015] Figure 2 It is a three-dimensional split structure schematic view of the intelligent skating rink site flatness measuring robot provided by the utility model;

[0016] Figure 3 It is a three-dimensional structure schematic view of the support frame of the intelligent skating rink site flatness measuring robot provided by the utility model;

[0017] Figure 4 It is a three-dimensional structure schematic view of the feeding box of the intelligent skating rink site flatness measuring robot provided by the utility model.

[0018] In the diagram: 1. Track travel mechanism; 101. Flatness tester; 2. Fixing hole; 201. Feed box; 202. Marking block; 203. Support frame; 204. Pneumatic gripper; 205. Rodless cylinder; 206. Electric push rod; 207. Connecting plate; 3. Drive motor; 4. Material inlet; 401. Drive hole; 402. Push plate; 403. Tension spring; 5. Limit rod; 6. Obstacle avoidance sensor; 601. Buzzer. Detailed Implementation

[0019] To make the technical means, creative features, objectives and effects of this utility model easier to understand, the present utility model will be further described below in conjunction with specific embodiments.

[0020] In the description of this utility model, it should be noted that the terms "upper," "lower," "inner," "outer," "front end," "rear end," "both ends," "one end," and "the other end," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this utility model 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. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0021] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installed," "equipped with," and "connected," etc., should be interpreted broadly. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0022] like Figures 1-4 As shown, the intelligent ice skating rink flatness measurement robot includes a tracked traveling mechanism 1. A flatness detector 101 is installed on the top surface of the tracked traveling mechanism 1. The flatness detector 101 uses a vision subsystem in conjunction with an AI algorithm of an external central control device to detect flatness. A PLC controller is fixed on the top surface of the tracked traveling mechanism 1. The PLC controller integrates a wireless transmission module. A marking component is also installed on the top surface of the tracked traveling mechanism 1. The marking component includes a fixing hole 2 opened on the top surface of the tracked traveling mechanism 1. A feeding box 201 is fixed inside the fixing hole 2. Several marking blocks 202 are slidably arranged inside the feeding box 201. A support frame 203 is fixed on the top surface of the tracked traveling mechanism 1. A pneumatic claw 204 is installed on the bottom surface of the support frame 203.

[0023] As Figures 2-4 shown in the embodiment, the inside of the support frame 203 is fixed with a rodless cylinder 205, the bottom surface of the slider of the rodless cylinder 205 is fixed with an electric push rod 206, the electric push rod 206 is connected with the pneumatic claw 204 at one end of the telescopic rod of the electric push rod 206, the front side of the support frame 203 is fixed with a connecting plate 207, and the flatness detector 101 is fixed at the bottom end of the connecting plate 207. The driving device of the crawler traveling mechanism 1 drives it to travel on the ice rink in a predetermined path. The flatness detector 101 is started to detect the ice surface during the traveling process. When a depression or a protrusion is detected on the ice surface, the crawler traveling mechanism 1 stops moving, and the PLC controller automatically marks the current virtual coordinate position. Then the rodless cylinder 205 is started to drive the electric push rod 206 and the pneumatic claw 204 to move above the feeding box 201. Then the electric push rod 206 is started to drive the pneumatic claw 204 to descend to the top surface of the feeding box 201. Then the pneumatic claw 204 is started to grab the marker block 202 on the top of the feeding box 201. Then the rodless cylinder 205 is started to move transversely, thereby driving the marker block 202 to move in front of the crawler traveling mechanism 1. Then the electric push rod 206 is started to drive the marker block 202 to be placed on the ice surface, thereby accurately marking the position of the depression or the protrusion on the ice surface.

[0024] As Figures 2-4 shown in the embodiment, one end of the telescopic rod of the electric push rod 206 is fixed with a driving motor 3, and one end of the rotating shaft of the pneumatic claw 204 is fixed with the driving motor 3. By arranging the driving motor 3, the pneumatic claw 204 and the marker block 202 grabbed thereby can be driven to rotate, so that the sharp part of the marker block 202 points to the position of the depression or the protrusion on the ice surface, thereby facilitating the staff to better confirm the position of the depression or the protrusion on the ice surface.

[0025] As Figures 2-4 shown in the embodiment, the front and rear sides of the feeding box 201 are provided with a material taking opening 4, the left and right sides of the feeding box 201 are provided with driving holes 401, and the inside of the feeding box 201 is provided with a pushing plate 402. The two ends of the pushing plate 402 are slidably arranged in the inside of the driving holes 401. A plurality of marker blocks 202 are stacked on the top surface of the pushing plate 402. A tension spring 403 is fixed between the top surface of the pushing plate 402 and the inside top surface of the driving hole 401. By arranging the pushing plate 402, the plurality of marker blocks 202 are stacked on the top surface of the pushing plate 402. The tension of the tension spring 403 drives the pushing plate 402 to push the marker blocks 202, so that the uppermost marker block 202 abuts against the inside top surface of the feeding box 201. When the pneumatic claw 204 takes away the uppermost marker block 202 from the material taking opening 4, the tension spring 403 rapidly rebounds and drives the pushing plate 402 to abut the lower marker blocks 202 against the inside top surface of the feeding box 201, thereby realizing automatic feeding.

[0026] As Figures 2-4 shown in the embodiment, the inside of the driving hole 401 is fixed with a limiting rod 5, the pushing plate 402 is slidingly arranged on the outer wall of the limiting rod 5, and the tension spring 403 is movably sleeved on the outer wall of the limiting rod 5, so that the limiting rod 5 can support the tension spring 403 and limit the pushing plate 402.

[0027] As Figures 2-4 shown in the embodiment, the front side of the connecting plate 207 is fixed with an obstacle avoidance sensor 6, the top surface of the crawler traveling mechanism 1 is fixed with a buzzer 601, the flatness detector 101, the pneumatic clamping jaw 204, the electric push rod 206, the driving motor 3, the obstacle avoidance sensor 6 and the buzzer 601 are electrically connected with the PLC controller, and the obstacle avoidance sensor 6 can be arranged to detect the obstacles in the traveling direction of the device in real time, and the buzzer 601 can be arranged to alarm and remind the staff.

[0028] From the above description, it can be seen that the above-mentioned embodiments of the utility model realize the following technical effects: in use, the external central control mechanism sets a virtual coordinate on the skating rink, the external central control mechanism determines the position of the device on the coordinate by using the wireless transmission module of the PLC controller, the device is driven by the crawler traveling mechanism 1 to travel on the skating rink in a predetermined path, the flatness detector 101 is started in the traveling process to detect the ice surface, when a depression or a protrusion is detected on the ice surface, the crawler traveling mechanism 1 stops moving, the PLC controller automatically marks the current virtual coordinate position, then the rodless pneumatic cylinder 205 is started to drive the electric push rod 206 and the pneumatic clamping jaw 204 to move above the feeding box 201, then the electric push rod 206 is started to drive the pneumatic clamping jaw 204 to descend to the top surface of the feeding box 201, then the pneumatic clamping jaw 204 is started to grab the marker block 202 on the top of the feeding box 201 from the material taking opening 4, then the rodless pneumatic cylinder 205 is started to move laterally, thereby driving the marker block 202 to move to the front of the crawler traveling mechanism 1, then the electric push rod 206 is started to drive the marker block 202 to be placed on the ice surface, at this time, according to the position of the depression or the protrusion part on the ice surface detected by the flatness detector 101, the driving motor 3 is started to drive the pneumatic clamping jaw 204 and the marker block 202 to rotate, so that the sharp part of the marker block 202 points to the position of the depression or the protrusion part on the ice surface, thereby completing accurate marking.

[0029] The basic principle and main features of the utility model and the advantages of the utility model are shown and described above. Those skilled in the art should understand that the utility model is not limited to the above-mentioned embodiments, and the above-mentioned embodiments and descriptions in the specification are only to illustrate the principle of the utility model, and various changes and improvements can be made to the utility model without departing from the spirit and scope of the utility model, and these changes and improvements all fall within the scope of the utility model claimed.

Claims

1. An intelligent skating rink flatness measuring robot comprising a tracked traveling mechanism (1), characterized in that, The top surface of the caterpillar traveling mechanism (1) is provided with a flatness detector (101), the top surface of the caterpillar traveling mechanism (1) is fixed with a PLC controller, the PLC controller has a wireless transmission module, the top surface of the caterpillar traveling mechanism (1) is also provided with a marking assembly, the marking assembly comprises a fixing hole (2) opened in the top surface of the caterpillar traveling mechanism (1), a feeding box (201) is fixed in the fixing hole (2), a plurality of marking blocks (202) are slidably arranged in the feeding box (201), a support frame (203) is fixed on the top surface of the caterpillar traveling mechanism (1), and a pneumatic clamping jaw (204) is arranged on the bottom surface of the support frame (203).

2. The intelligent skating rink flatness measuring robot according to claim 1, wherein, The inside of the support frame (203) is fixed with a rodless air cylinder (205), the bottom surface of the sliding block of the rodless air cylinder (205) is fixed with an electric push rod (206), the pneumatic clamping jaw (204) is connected to one end of the telescopic rod of the electric push rod (206), and the front side of the support frame (203) is fixed with a connecting plate (207), and the flatness detector (101) is fixed at the bottom end of the connecting plate (207).

3. The intelligent skating rink flatness measuring robot according to claim 2, wherein, One end of the telescopic rod of the electric push rod (206) is fixed with a driving motor (3), and the pneumatic clamping jaw (204) is fixed to one end of the rotating shaft of the driving motor (3).

4. The intelligent skating rink flatness measuring robot according to claim 3, wherein, The front and rear sides of the feeding box (201) are provided with a material taking opening (4), the left and right sides of the feeding box (201) are provided with a driving hole (401), the inside of the feeding box (201) is provided with a pushing plate (402), the both ends of the pushing plate (402) are slidably arranged in the driving hole (401), a plurality of marking blocks (202) are stacked on the top surface of the pushing plate (402), and a tension spring (403) is fixed between the top surface of the pushing plate (402) and the inner top surface of the driving hole (401).

5. The intelligent skating rink flatness measuring robot according to claim 4, wherein, The inside of the driving hole (401) is fixed with a limiting rod (5), the pushing plate (402) and the outer wall of the limiting rod (5) are slidably arranged, and the tension spring (403) is movably sleeved with the outer wall of the limiting rod (5).

6. The intelligent skating rink flatness measuring robot according to claim 5, wherein, The front side of the connecting plate (207) is fixed with an obstacle avoidance sensor (6), the top surface of the caterpillar traveling mechanism (1) is fixed with a buzzer (601), and the flatness detector (101), the pneumatic clamping jaw (204), the electric push rod (206), the driving motor (3), the obstacle avoidance sensor (6) and the buzzer (601) are electrically connected with the PLC controller.

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