CN114986540B - Nameplate pasting robot, control method and equipment - Google Patents
Nameplate pasting robot, control method and equipment Download PDFInfo
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- CN114986540B CN114986540B CN202210942326.0A CN202210942326A CN114986540B CN 114986540 B CN114986540 B CN 114986540B CN 202210942326 A CN202210942326 A CN 202210942326A CN 114986540 B CN114986540 B CN 114986540B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
- B41J2/00—Typewriters or selective printing mechanisms characterised by the printing or marking process for which they are designed
- B41J2/315—Typewriters or selective printing mechanisms characterised by the printing or marking process for which they are designed characterised by selective application of heat to a heat sensitive printing or impression-transfer material
- B41J2/32—Typewriters or selective printing mechanisms characterised by the printing or marking process for which they are designed characterised by selective application of heat to a heat sensitive printing or impression-transfer material using thermal heads
- B41J2/325—Typewriters or selective printing mechanisms characterised by the printing or marking process for which they are designed characterised by selective application of heat to a heat sensitive printing or impression-transfer material using thermal heads by selective transfer of ink from ink carrier, e.g. from ink ribbon or sheet
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
- B41J29/00—Details of, or accessories for, typewriters or selective printing mechanisms not otherwise provided for
- B41J29/38—Drives, motors, controls or automatic cut-off devices for the entire printing mechanism
- B41J29/393—Devices for controlling or analysing the entire machine ; Controlling or analysing mechanical parameters involving printing of test patterns
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
- B41J3/00—Typewriters or selective printing or marking mechanisms characterised by the purpose for which they are constructed
- B41J3/407—Typewriters or selective printing or marking mechanisms characterised by the purpose for which they are constructed for marking on special material
- B41J3/4075—Tape printers; Label printers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
- B41J3/00—Typewriters or selective printing or marking mechanisms characterised by the purpose for which they are constructed
- B41J3/44—Typewriters or selective printing mechanisms having dual functions or combined with, or coupled to, apparatus performing other functions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/50—Manufacturing or production processes characterised by the final manufactured product
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a nameplate pasting robot, a control method and equipment, wherein the nameplate pasting robot comprises a mechanical arm, a climbing wheel and a printing component; the mechanical arm is arranged on the side wall of the printing assembly and used for clamping the printing assembly on the target electric pole; the mechanical arm is provided with a climbing wheel accommodating cavity and a power assembly; the climbing wheel is accommodated in the climbing wheel accommodating cavity, is connected with the power assembly through the transmission shaft and is used for climbing to a preset operation height on a target electric pole; and the printing component is used for printing the nameplates and pasting the nameplates on the nameplate pasting operation points corresponding to the operation height. The technical problem that in the prior art, the operation tools are carried by people to climb to the electric pole to install the signboard, but certain potential safety hazards exist in the manual climbing operation in the method is solved. According to the invention, the labor is further liberated through the signboard pasting robot, the burden of operators is reduced, the working efficiency is improved, and personal risks such as electric shock and falling are effectively prevented.
Description
Technical Field
The invention relates to the technical field of nameplates, in particular to a nameplate pasting robot, a control method and equipment.
Background
In the electric power maintenance work, often need hang on maintenance equipment and electrified equipment framework on every side and establish relevant tablet, play suggestion and warning's effect to the field operation personnel. 10kV joins in marriage net overhead line and need regularly inspect and mark the tablet, and whether the tablet is marked to the inspection pole has the disappearance or is fuzzy, or when the circuit change needs to be updated and marks the condition of tablet, need paste again and mark the tablet. The judgment of the maintainer on the site electrified position is avoided being influenced.
In the prior art, usually, the operation tool is carried by a person to climb to the electric pole for installing the signboard, but the method has certain potential safety hazard during manual climbing operation.
Disclosure of Invention
The invention provides a signboard pasting robot, a control method and equipment, which solve the technical problems that in the prior art, a signboard is usually installed by climbing to an electric pole through a manually carried operation tool, but the method has certain potential safety hazards during manual climbing operation.
The invention provides a nameplate pasting robot in a first aspect, which comprises a mechanical arm, a climbing wheel and a printing assembly, wherein the mechanical arm is arranged on the upper portion of the nameplate pasting robot;
the mechanical arm is arranged on the side wall of the printing assembly and used for clamping the printing assembly on a target electric pole;
the mechanical arm is provided with a climbing wheel accommodating cavity and a power assembly;
the climbing wheel is accommodated in the climbing wheel accommodating cavity, is connected with the power assembly through a transmission shaft and is used for climbing to a preset operation height on the target electric pole;
the printing assembly is used for printing and marking the plate, and pasting the plate to the plate pasting operation point corresponding to the operation height.
Optionally, the mechanical arm comprises a mechanical arm body, a steering engine, a pressure sensor and a mechanical arm rotating shaft;
the steering engine is electrically connected with the pressure sensor and the mechanical arm rotating shaft respectively;
the steering engine is used for sending instructions to control the mechanical arm rotating shaft and sending instructions to control the mechanical arm rotating shaft in real time according to clamping pressure fed back by the pressure sensor;
the pressure sensor is used for detecting the clamping pressure of the mechanical arm body in real time and feeding the clamping pressure back to the steering engine;
the mechanical arm rotating shaft is used for rotating according to the instruction of the steering engine, and the mechanical arm body clamps the target electric pole.
Optionally, the power assembly is provided with a code disc;
the coding disc is used for acquiring the ground distance height in real time;
the power assembly drives the climbing wheels to climb on the target electric pole until the distance between the ground and the preset operation height is equal.
Optionally, the printing assembly comprises a paper outlet assembly, an adhesive tape release paper separator, a bottom turntable, a thermal transfer printer and a pasting pressing roller;
the paper outlet of the paper outlet assembly is provided with the thermal transfer printer and is used for stretching the adhesive tape to the thermal transfer printer;
the thermal transfer printer is used for printing the nameplate information to the adhesive tape;
the bottom turntable is provided with the paper outlet assembly, the adhesive tape release paper separator, the thermal transfer printer and the pasting pressing roller and is used for driving the paper outlet assembly, the adhesive tape release paper separator, the thermal transfer printer and the pasting pressing roller to rotate along a preset track;
the adhesive tape release paper separator is used for separating the adhesive layer and the smooth layer of the adhesive tape to obtain the nameplate carried by the adhesive layer;
the pasting pressing roller is used for pressing the signboard, and the signboard is pasted on the target electric pole.
Optionally, the paper output assembly comprises a label tape storage cylinder and a first guide wheel;
a coding disc direct current motor, a rotating shaft and the adhesive tape are arranged in the label adhesive tape storage cylinder;
the coding disc direct current motor is connected with the rotating shaft and used for driving the rotating shaft to rotate and stretching the adhesive tape wound on the rotating shaft to the paper outlet;
the first guide wheel is arranged at the paper outlet and used for guiding the adhesive tape to the thermal transfer printer;
a first driving motor is arranged in the bottom turntable;
the first driving motor is connected with the bottom rotary table through a first rotating shaft and used for driving the bottom rotary table to rotate.
Optionally, the printing assembly further comprises a release paper recovery cylinder and a second guide wheel;
the release paper recovery cylinder is connected with the nameplate adhesive tape storage cylinder through a fixing support and is used for recovering the smooth layer;
the second guide wheel is arranged at a recycling port of the release paper recycling drum and used for guiding the smooth layer to the recycling port;
a second driving motor and a second rotating shaft are arranged in the release paper recovery cylinder;
and the second driving motor is connected with the second rotating shaft and used for driving the second rotating shaft to rotate so as to wind the smooth layer on the second rotating shaft.
Optionally, the nameplate pasting robot further comprises a pan-tilt lens;
the cloud platform camera lens set up in print the subassembly top, be used for obtaining in real time the target pole with mark the video stream of tablet.
Optionally, a drone provided with a detachable stranded sling assembly;
the stranded sling assembly comprises a third driving motor, a winch and a sling, and the sling is wound on the winch through the third driving motor;
unmanned aerial vehicle passes through the hoist cable with mark the tablet and paste the robot and connect, be used for with mark tablet and paste the robot transportation extremely the target pole position that the target pole was located.
A control method of a sign pasting robot according to a second aspect of the present invention is applied to a processor in any one of the above sign pasting robots, the sign pasting robot including a robot arm, a climbing wheel, and a printing unit, the method including:
responding to the received target electric pole position, and sending the target electric pole position to the mechanical arm;
clamping the nameplate pasting robot on a target electric pole corresponding to the target electric pole location through the mechanical arm;
driving the climbing wheel to climb to a preset operation height on the target electric pole through a power assembly;
when the nameplate pasting robot receives the nameplate information, the nameplate corresponding to the nameplate information is printed through the printing assembly;
the printing assembly is used for pasting the nameplate on a nameplate pasting operation point corresponding to the preset operation height.
A third aspect of the present invention provides an electronic device, comprising a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the control method for a nameplate pasting robot as described above.
According to the technical scheme, the invention has the following advantages:
according to the invention, the printing assembly is clamped on the target electric pole through the mechanical arm, the mechanical arm is provided with the climbing wheel accommodating cavity and the power assembly, the power assembly drives the climbing wheel accommodated in the climbing wheel accommodating cavity to climb upwards until the climbing wheel climbs to the preset operation height of the target electric pole, then the printing assembly prints the nameplate, and the nameplate is pasted on the nameplate pasting operation point. The technical problem that in the prior art, the operation tools are carried by people to climb to the electric pole to install the signboard, but certain potential safety hazards exist in the manual climbing operation in the method is solved. According to the invention, the labor is further liberated through the signboard pasting robot, the burden of operators is reduced, the working efficiency is improved, and personal risks such as electric shock and falling are effectively prevented. And the nameplate pasting robot can be operated by one person, so that the work efficiency of pasting the nameplates is effectively improved, and the quality and the efficiency are improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.
Fig. 1 is a schematic structural view of a nameplate pasting robot according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of the internal structure of a printing assembly according to an embodiment of the present invention;
fig. 3 is a schematic view of an unmanned aerial vehicle and a sign pasting robot provided in an embodiment of the present invention;
fig. 4 is a flowchart illustrating steps of a control method of a sign pasting robot according to an embodiment of the present invention.
Wherein the reference numerals have the following meanings:
1. a label tape storage cartridge; 2. a first guide wheel; 3. a thermal transfer printer; 4. sticking a pressing roller; 5. a nameplate; 6. an adhesive tape release paper separator; 7. a second guide wheel; 8. a fixed bracket; 9. a release paper recovery cylinder; 10. climbing wheels; 11. a mechanical arm body; 12. a printing assembly; 13. a mechanical arm rotating shaft; 14. an unmanned aerial vehicle; 15. a target pole; 16. a nameplate pasting robot; 17. a bottom turntable.
Detailed Description
The embodiment of the invention provides a signboard pasting robot, a control method and equipment, which are used for solving the technical problems that in the prior art, a signboard is usually installed by climbing to an electric pole through a manually carried operating tool, but certain potential safety hazards exist in manual climbing operation.
In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the embodiments described below are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a sign pasting robot according to an embodiment of the present invention.
The invention provides a nameplate pasting robot, a nameplate pasting robot 16 comprises a mechanical arm, a climbing wheel 10 and a printing component 12, and comprises: the mechanical arm is arranged on the side wall of the printing assembly 12 and used for clamping the printing assembly 12 on the target electric pole 15; the mechanical arm is provided with a climbing wheel accommodating cavity and a power assembly; the climbing wheel 10 is accommodated in the climbing wheel accommodating cavity, is connected with the power assembly through a transmission shaft and is used for climbing to a preset operation height on the target electric pole 15; and the printing component 12 is used for printing the nameplate 5 and pasting the nameplate 5 at a nameplate pasting operation point corresponding to the operation height.
It should be noted that the sign pasting robot 16 refers to a robot powered by a lithium battery, the sign pasting robot 16 is provided with a mechanical arm, a climbing wheel 10, a printing assembly 12 and other assemblies, and the sign pasting robot 16 can be controlled by an electronic remote control system;
the mechanical arm refers to a mechanical electronic device with anthropomorphic arm and hand functions; the mechanical arm is provided with a climbing wheel accommodating cavity for accommodating the climbing wheel 10 and a power assembly for driving the climbing wheel 10;
climbing wheel 10 refers to a mechanical wheel that climbs or descends up to the ground by means of a power assembly, preferably, climbing wheel 10 is a mecanum wheel;
the printing unit 12 is an electronic device having a function of printing and pasting the signboard 5.
In the embodiment of the invention, when the climbing wheel 10 climbs to the preset operation height, an operator inputs related nameplate information through an electronic remote control system and transmits the information to the nameplate pasting robot 16, when the nameplate pasting robot 16 receives the nameplate information, the nameplate 5 is printed through the printing component 12, and then the nameplate 5 is pasted on a nameplate pasting operation point of the target electric pole 15. Specifically, the preset working height and the sign pasting working point are set by the operator according to actual conditions, and are not limited herein.
According to the invention, the printing component 12 is clamped on the target electric pole 15 through the mechanical arm, the mechanical arm is provided with the climbing wheel accommodating cavity and the power component, the power component drives the climbing wheel 10 accommodated in the climbing wheel accommodating cavity to climb upwards until the climbing reaches the preset operation height of the target electric pole 15, then the printing component 12 prints the nameplate 5, and the nameplate 5 is stuck at a nameplate sticking operation point. The technical problem that in the prior art, the sign 5 is usually installed by climbing to the electric pole through a manually-carried operation tool, but certain potential safety hazards exist in manual climbing operation in the method is solved. According to the invention, the labor is further liberated through the nameplate pasting robot 16, the burden of operators is reduced, the working efficiency is improved, and personal risks such as electric shock and falling are effectively prevented. And the sign pasting robot 16 can be operated by one person, thereby effectively improving the working efficiency of pasting the sign 5, improving the quality and increasing the efficiency.
Referring to fig. 2 and 3, in a signboard pasting robot according to a second embodiment of the present invention, a mechanical arm includes a mechanical arm body 11, a steering engine, a pressure sensor, and a mechanical arm rotating shaft 13; the steering engine is electrically connected with the pressure sensor and the mechanical arm rotating shaft 13 respectively; the steering engine is used for sending a command to control the mechanical arm rotating shaft 13 and sending the command to control the mechanical arm rotating shaft 13 in real time according to the clamping pressure fed back by the pressure sensor; the pressure sensor is used for detecting the clamping pressure of the mechanical arm body 11 in real time and feeding the clamping pressure back to the steering engine; the mechanical arm rotating shaft 13 is used for rotating the mechanical arm body 11 to clamp the target electric pole 15 according to the instruction of the steering engine.
It should be noted that the steering engine is mainly composed of a housing, a circuit board, a driving motor, a speed reducer and a position detection element, and is mainly applicable to a control system which needs to change and keep the angle constantly;
the mechanical arm rotating shaft 13 is controlled by a steering engine and provides power, and the mechanical arm body 11 can be rotated to clamp or loosen the target electric pole 15 according to the instruction of the steering engine.
In the embodiment of the invention, an operator inputs a command of clamping a target pole 15 through an electronic remote control system, when receiving the command of clamping the target pole 15, a steering engine sends the clamping command to the mechanical arm rotating shaft 13 and controls the mechanical arm rotating shaft 13 to rotate the mechanical arm body 11 to clamp the target pole 15, the steering engine feeds back clamping pressure through a pressure sensor to obtain the clamping pressure of the mechanical arm body 11 in real time, and the situation that when the clamping pressure is smaller than a preset value, the mechanical arm body 11 is loosened, so that a printing assembly 12 falls off is avoided. When the climbing wheel 10 climbs to the ground and the steering engine receives an instruction of loosening the target electric pole 15, a loosening instruction is sent to the mechanical arm rotating shaft 13 and controls the mechanical arm rotating shaft 13 to rotate the mechanical arm body 11 to loosen the target electric pole 15, the clamping pressure fed back by the steering engine through the pressure sensor is 0, and information that the mechanical arm body 11 loosens the target electric pole 15 can be acquired.
Optionally, the power assembly is provided with a code wheel; the coding disc is used for acquiring the ground distance height in real time; the power assembly climbs on the target pole 15 by driving the climbing wheels 10 until the ground distance height is equal to the preset operation height.
It should be noted that the code wheel is an element for measuring by direct coding, which directly converts the measured linear displacement into a corresponding code, indicating its absolute position.
In a specific embodiment, an operator controls the power assembly to provide power to the climbing wheel 10 through the electronic remote control system, so that when the climbing wheel 10 climbs upwards, the coding disc arranged on the power assembly acquires the height between the ground and the power assembly in real time and feeds the height back to the electronic remote control system, when the climbing height is equal to the preset height, the climbing wheel 10 can be suspended from climbing upwards, specifically, the preset height is set by the operator according to actual needs, and no limitation is made herein.
Alternatively, the printing assembly 12 includes a paper output assembly, a tape separator 6, a bottom turntable 17, a thermal transfer printer 3, and a paste pressing roller 4; the paper outlet of the paper outlet assembly is provided with a thermal transfer printer 3 for stretching the adhesive tape to the thermal transfer printer 3; the thermal transfer printer 3 is used for printing the nameplate information to the adhesive tape; the bottom turntable 17 is provided with a paper outlet assembly, an adhesive tape release paper separator 6, a thermal transfer printer 3 and a pasting pressing roller 4, and is used for driving the paper outlet assembly, the adhesive tape release paper separator 6, the thermal transfer printer 3 and the pasting pressing roller 4 to rotate along a preset track; the adhesive tape release paper separator 6 is used for separating the adhesive layer and the smooth layer of the adhesive tape to obtain the nameplate 5 carried by the adhesive layer; the paste-press roller 4 is used to press the signboard 5, and paste the signboard 5 on the target pole 15.
It should be noted that, as shown in fig. 2, a paper output assembly, an adhesive tape release paper separator 6, a thermal transfer printer 3 and a pasting pressing roller 4 are arranged on the bottom rotary table 17, the bottom rotary table 17 is connected with the pasting pressing roller 4 through a central rotating shaft, the central rotating shaft is located on the edge of the bottom rotary table 17, therefore, part of the pasting pressing roller 4 protrudes out of the bottom rotary table 17, further, a pasting pressing opening is arranged at the position of the printing assembly 12 located at the pasting signboard 5, a rolling door can be arranged on the pasting pressing opening, specifically, other forms of opening and closing doors can be arranged on the pasting pressing opening according to actual conditions, when the climbing wheel 10 climbs to a preset operation height, an operator controls the rolling door to open through an electronic remote control system, when the pasting pressing roller 4 rotates along with the bottom rotary table 17 to the pasting pressing opening, part of the pasting pressing roller 4 protrudes out of the printing assembly 12, so as to press the signboard 5, and when the pasting of the signboard 5 is finished, the operator controls the rolling door to close through the electronic remote control system. When the bottom turntable 17 rotates along a predetermined trajectory, which is preferably a rotation trajectory from left to right as shown by an arrow in fig. 2, the sheet discharge assembly, the tape separator 6, the paste-pressing roller 4, and the thermal transfer printer 3 also rotate together. Sign tablet information marks the information of saying for the mark of the relevant content of electric wire netting, and operating personnel accessible mobile terminal APP inputs and marks tablet information.
In the embodiment of the invention, an adhesive tape is stretched from a paper outlet of a paper outlet assembly, when the adhesive tape passes through a thermal transfer printer 3, the thermal transfer printer 3 prints label information on the adhesive tape, the thermal transfer printer 3 simultaneously prints and starts a bottom turntable 17, the bottom turntable 17 drives the paper outlet assembly, an adhesive tape release paper separator 6, the thermal transfer printer 3 and a pasting pressing roller 4 to rotate from left to right, after the adhesive tape release paper separator 6 separates a pasting layer and a smooth layer of the adhesive tape, a label 5 carried by the pasting layer is obtained, the pasting pressing roller 4 presses the label 5 when rotating along with the bottom turntable 17, the pasting pressing roller 4 rotates through a central rotating shaft, and the label 5 can be pasted on a target pole 15 by the pressure generated by the rotation of the pasting pressing roller 4.
Optionally, the paper output assembly comprises a label tape storage cylinder 1 and a first guide wheel 2; a coding disc direct current motor, a rotating shaft and an adhesive tape are arranged in the nameplate adhesive tape storage cylinder 1; the coding disc direct current motor is connected with the rotating shaft and used for driving the rotating shaft to rotate and stretching the adhesive tape wound on the rotating shaft to the paper outlet; the first guide wheel 2 is arranged at the paper outlet and used for guiding the adhesive tape to the thermal transfer printer 3; a first driving motor is arranged in the bottom turntable 17; the first driving motor is connected with the bottom turntable 17 through a first rotating shaft and is used for driving the bottom turntable 17 to rotate.
It should be noted that, the code disc dc motor is a dc motor carrying the code disc, the encoder is a device for measuring the speed, and the dc motor is used for controlling the closed loop speed adjustment, so as to measure the speed feedback quantity, thereby accurately controlling the length of the adhesive tape drawn out from the paper outlet of the label adhesive tape storage cylinder 1.
In a specific embodiment, the coding disc dc motor in the label tape storage cylinder 1 drives the rotating shaft to rotate, so as to stretch the tape from the paper outlet of the label tape storage cylinder 1 to the first guide wheel 2, and the first guide wheel 2 guides the tape to the thermal transfer printer 3 on one side, so that the thermal transfer printer 3 prints the label information onto the tape. When the thermal transfer printer 3 starts printing, the first drive motor of the bottom turntable 17 is started, and the first drive motor drives the first rotary shaft, thereby rotating the bottom turntable 17 connected to the first rotary shaft.
Optionally, the printing assembly 12 further comprises a release paper recovery drum 9 and a second guide wheel 7; the release paper recovery cylinder 9 is connected with the nameplate adhesive tape storage cylinder 1 through a fixed support 8 and is used for recovering the smooth layer; the second guide wheel 7 is arranged at the recycling port of the release paper recycling drum 9 and is used for guiding the smooth layer to the recycling port; a second driving motor and a second rotating shaft are arranged in the release paper recovery cylinder 9; and the second driving motor is connected with the second rotating shaft and used for driving the second rotating shaft to rotate so as to wind the smooth layer on the second rotating shaft.
It should be noted that the nameplate adhesive tape storage cylinder 1 and the release paper recycling cylinder 9 are fixed by the fixing support 8, and the release paper recycling cylinder 9 is also arranged on the bottom turntable 17. The second guide wheel 7 provides power to rotate by means of friction with the smooth layer, and simultaneously guides the smooth layer into the release paper recycling cylinder 9.
In the embodiment of the invention, after the adhesive tape separator 6 separates the adhesive layer and the smooth layer of the adhesive tape, due to the special material of the smooth layer, the smooth layer can move along the adhesive tape separator 6 and then contact the second guide wheel 7, power is provided for the second guide wheel 7, the second guide wheel 7 guides the smooth layer to the recovery opening of the release paper recovery cylinder 9, the second driving motor arranged in the release paper recovery cylinder 9 drives the second rotating shaft to rotate, and due to the wind direction gravitation carried during rotation, the smooth layer is wound on the second rotating shaft.
Optionally, the sign pasting robot 16 further includes a pan-tilt lens; the pan-tilt lens is arranged at the top of the printing component 12 and used for acquiring video streams of the target electric pole 15 and the nameplate 5 in real time.
It should be noted that the pan-tilt lens is a camera lens with a pan-tilt, the pan-tilt is a device for bearing a camera to rotate in two horizontal and vertical directions, the camera lens is mounted on the pan-tilt to enable the camera to shoot from multiple angles, the pan-tilt lens can be connected with the terminal APP, and an operator can dynamically observe in real time through the terminal APP.
In the embodiment of the invention, an operator learns the peripheral environment of the target electric pole 15 through the target electric pole video stream acquired by the pan-tilt lens, confirms the position of the target electric pole through the peripheral environment, pastes the signboard 5 on the target electric pole 15, then the operator checks the pasting effect through the video stream of the signboard 5 acquired by the pan-tilt lens, and inputs the pasting ending instruction when the pasting effect reaches the expected effect.
Optionally, referring to the drone 14, the drone 14 is provided with a detachable stranded sling assembly; the stranded sling component comprises a third driving motor, a winch and a sling, and the sling is wound on the winch through the third driving motor; the unmanned aerial vehicle 14 is connected with the sign pasting robot 16 through a sling for transporting the sign pasting robot 16 to a target pole position where the target pole 15 is located.
It should be noted that, as shown in fig. 3, the drone 14 is a multi-rotor drone, mainly used for low-altitude, low-speed, vertically-taking off and landing, and hovering tasks. The stranded sling assembly refers to a transport mechanism that enables the unmanned aerial vehicle 14 and the sign pasting robot 16 to be connected and disconnected from each other.
In a specific embodiment, send target pole position to unmanned aerial vehicle 14 to ensure that unmanned aerial vehicle 14 is fixed a position to specific location, unmanned aerial vehicle 14 hangs through transposition hoist cable subassembly and send sign pasting robot 16 to target pole position, and when reaching target pole position, rethread transposition hoist cable subassembly's hoist cable will mark sign pasting robot 16 and transfer to ground, and control the hoist cable of transposition hoist cable subassembly and loosen and mark sign pasting robot 16.
According to the invention, the printing component 12 is clamped on the target electric pole 15 through the mechanical arm, the mechanical arm is provided with the climbing wheel accommodating cavity and the power component, the power component drives the climbing wheel 10 accommodated in the climbing wheel accommodating cavity to climb upwards until the climbing wheel climbs to the preset operation height of the target electric pole 15, then the printing component 12 prints the nameplate 5, and the nameplate 5 is pasted on the nameplate pasting operation point. The technical problem that in the prior art, the sign board 5 is usually installed by climbing to the electric pole through an operation tool carried by people, but certain potential safety hazards exist in the manual climbing operation in the method is solved. According to the invention, the labor is further liberated through the sign pasting robot 16, the burden of operators is reduced, the working efficiency is improved, and personal risks such as electric shock and falling are effectively prevented. And the nameplate pasting robot 16 can be operated by one person, so that the working efficiency of pasting the nameplates 5 is effectively improved, and the quality and the efficiency are improved.
Referring to fig. 4, fig. 4 is a flowchart illustrating a control method of a nameplate pasting robot according to a third embodiment of the present invention.
The present embodiment provides a control method for a sign pasting robot, which is applied to a processor in any sign pasting robot in the above embodiments, wherein the sign pasting robot 16 includes a mechanical arm, a climbing wheel 10 and a printing assembly 12, and the method includes the following steps:
It should be noted that the target pole position refers to longitude and latitude azimuth information of the target pole 15, and the signboard information refers to signboard information of power grid related content.
In a specific embodiment, the received target pole position is responded, and the target pole position is sent to the unmanned aerial vehicle 14, so that the unmanned aerial vehicle 14 is ensured to locate the specific position in real time, and the nameplate pasting robot 16 is conveniently transported to a target pole location corresponding to the target pole position information by the unmanned aerial vehicle 14; the sign pasting robot 16 is clamped on the target pole 15 corresponding to the target pole location through the mechanical arm, so that the power assembly drives the climbing wheel 10 to climb to a preset operation height, when the sign pasting robot 16 receives sign information input by an operator, the sign 5 corresponding to the sign information is printed through the printing assembly 12, and the sign 5 is pasted on a sign pasting operation point corresponding to the preset operation height. After the nameplate 5 is pasted, the nameplate pasting robot 16 descends to the ground through the climbing wheels 10, and the nameplate pasting robot 16 is hoisted to the next target pole 15 by the unmanned aerial vehicle 14.
In addition, also can carry by operating personnel and mark tablet pasting robot 16 and go to target pole 15 department, through control arm centre gripping target pole 15, again by power component drive climbing wheel 10 climb to predetermineeing the operation height, when marking tablet pasting robot 16 receives the tablet information that marks that operating personnel input, print through printing subassembly 12 and mark tablet 5 that marks that the tablet information corresponds to will mark tablet 5 and paste and mark the tablet and paste the operation point at the tablet that marks that predetermines the operation height and correspond.
According to the invention, the printing component 12 is clamped on the target electric pole 15 through the mechanical arm, the mechanical arm is provided with the climbing wheel accommodating cavity and the power component, the power component drives the climbing wheel 10 accommodated in the climbing wheel accommodating cavity to climb upwards until the climbing wheel climbs to the preset operation height of the target electric pole 15, then the printing component 12 prints the nameplate 5, and the nameplate 5 is pasted on the nameplate pasting operation point. The technical problem that in the prior art, the operation tools are carried by people to climb to the electric pole to install the signboard, but certain potential safety hazards exist in the manual climbing operation in the method is solved. According to the invention, the labor is further liberated through the sign pasting robot 16, the burden of operators is reduced, the working efficiency is improved, and personal risks such as electric shock and falling are effectively prevented. And the sign pasting robot 16 can be operated by one person, thereby effectively improving the working efficiency of pasting the sign 5, improving the quality and increasing the efficiency.
An embodiment of the present invention further provides an electronic device, where the electronic device includes: the computer system comprises a memory and a processor, wherein a computer program is stored in the memory; the computer program, when executed by the processor, causes the processor to execute the signboard pasting robot control method according to the above-described embodiment.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the robot and the device described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described device embodiments are merely illustrative, and for example, the division of the units is only one logical functional division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit may be implemented in the form of hardware, or may also be implemented in the form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention, which is substantially or partly contributed by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A nameplate pasting robot is characterized by comprising mechanical arms, climbing wheels and a printing assembly;
the mechanical arm is arranged on the side wall of the printing assembly and used for clamping the printing assembly on a target electric pole;
the mechanical arm is provided with a climbing wheel accommodating cavity and a power assembly;
the climbing wheel is accommodated in the climbing wheel accommodating cavity, is connected with the power assembly through a transmission shaft and is used for climbing to a preset operation height on the target electric pole;
the printing assembly is used for printing and marking the plate, and pasting the plate to the plate pasting operation point corresponding to the operation height.
2. The sign pasting robot of claim 1, wherein the mechanical arm comprises a mechanical arm body, a steering engine, a pressure sensor and a mechanical arm rotating shaft;
the steering engine is electrically connected with the pressure sensor and the mechanical arm rotating shaft respectively;
the steering engine is used for sending instructions to control the mechanical arm rotating shaft and sending instructions to control the mechanical arm rotating shaft in real time according to clamping pressure fed back by the pressure sensor;
the pressure sensor is used for detecting the clamping pressure of the mechanical arm body in real time and feeding the clamping pressure back to the steering engine;
the mechanical arm rotating shaft is used for rotating according to the instruction of the steering engine, and the mechanical arm body clamps the target electric pole.
3. The sign pasting robot of claim 1, wherein said power assembly is provided with a code wheel;
the coding disc is used for acquiring the ground distance height in real time;
the power assembly drives the climbing wheels to climb on the target electric pole until the distance between the ground and the preset operation height is equal.
4. The sign pasting robot of claim 1 wherein said printing assembly comprises a paper delivery assembly, a tape release separator, a bottom turntable, a thermal transfer printer, and a paste press roller;
the paper outlet of the paper outlet assembly is provided with the thermal transfer printer and is used for stretching the adhesive tape to the thermal transfer printer;
the thermal transfer printer is used for printing nameplate information to the adhesive tape;
the bottom turntable is provided with the paper outlet assembly, the adhesive tape release paper separator, the thermal transfer printer and the pasting pressing roller and is used for driving the paper outlet assembly, the adhesive tape release paper separator, the thermal transfer printer and the pasting pressing roller to rotate along a preset track;
the adhesive tape release paper separator is used for separating the adhesive layer and the smooth layer of the adhesive tape to obtain the nameplate carried by the adhesive layer;
the pasting pressing roller is used for pressing the signboard, and the signboard is pasted on the target electric pole.
5. The sign pasting robot of claim 4, wherein said paper output assembly comprises a sign tape storage cartridge, a first guide wheel;
a coding disc direct current motor, a rotating shaft and the adhesive tape are arranged in the label adhesive tape storage cylinder;
the coding disc direct current motor is connected with the rotating shaft and used for driving the rotating shaft to rotate and stretching the adhesive tape wound on the rotating shaft to the paper outlet;
the first guide wheel is arranged at the paper outlet and used for guiding the adhesive tape to the thermal transfer printer;
a first driving motor is arranged in the bottom turntable;
the first driving motor is connected with the bottom rotary table through a first rotating shaft and used for driving the bottom rotary table to rotate.
6. The sign pasting robot of claim 5, wherein said printing assembly further comprises a release paper recycling drum and a second guide wheel;
the release paper recovery cylinder is connected with the nameplate adhesive tape storage cylinder through a fixing support and is used for recovering the smooth layer;
the second guide wheel is arranged at a recycling port of the release paper recycling drum and used for guiding the smooth layer to the recycling port;
a second driving motor and a second rotating shaft are arranged in the release paper recovery cylinder;
and the second driving motor is connected with the second rotating shaft and used for driving the second rotating shaft to rotate so as to wind the smooth layer on the second rotating shaft.
7. The sign pasting robot of claim 1, further comprising a pan-tilt lens;
the cloud platform camera lens set up in print the subassembly top, be used for real-time acquisition the target pole with mark the video stream of tablet.
8. The sign pasting robot of claim 1, wherein it relates to a drone provided with a detachable stranded sling assembly;
the stranded sling assembly comprises a third driving motor, a winch and a sling, and the sling is wound on the winch through the third driving motor;
unmanned aerial vehicle passes through the hoist cable with mark the tablet and paste the robot and connect, be used for with it transports to mark the tablet and paste the robot target pole position that the target pole was located.
9. A control method of a sign pasting robot applied to a processor in the sign pasting robot according to any one of claims 1 to 8, the sign pasting robot comprising a robot arm, a climbing wheel, and a printing assembly, the method comprising:
responding to the received target electric pole position, and sending the target electric pole position to the mechanical arm;
clamping the nameplate pasting robot on a target electric pole corresponding to the target electric pole location through the mechanical arm;
driving the climbing wheel to climb to a preset operation height on the target electric pole through a power assembly;
when the nameplate pasting robot receives the nameplate information, the nameplate corresponding to the nameplate information is printed through the printing assembly;
through print the subassembly will mark the tablet and paste and be in mark the tablet that the job height corresponds and paste the operation point.
10. An electronic device comprising a memory and a processor, wherein the memory stores a computer program, and the computer program, when executed by the processor, causes the processor to perform the steps of the signboard pasting robot control method according to claim 9.
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| CN202210942326.0A CN114986540B (en) | 2022-08-08 | 2022-08-08 | Nameplate pasting robot, control method and equipment |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210942326.0A CN114986540B (en) | 2022-08-08 | 2022-08-08 | Nameplate pasting robot, control method and equipment |
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| CN114986540B true CN114986540B (en) | 2022-10-04 |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102490804A (en) * | 2011-11-15 | 2012-06-13 | 西华大学 | Robot capable of getting over obstacles and climbing poles |
| CN110979502A (en) * | 2019-11-21 | 2020-04-10 | 上海锡华机械工程有限公司 | Tower column climbing robot |
| CN212825416U (en) * | 2020-07-23 | 2021-03-30 | 烟台智旭光电科技有限公司 | Climbing robot for maintaining street lamp |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| NZ610711A (en) * | 2010-10-19 | 2014-05-30 | White Puma Pty Ltd | A device for traversing an object |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102490804A (en) * | 2011-11-15 | 2012-06-13 | 西华大学 | Robot capable of getting over obstacles and climbing poles |
| CN110979502A (en) * | 2019-11-21 | 2020-04-10 | 上海锡华机械工程有限公司 | Tower column climbing robot |
| CN212825416U (en) * | 2020-07-23 | 2021-03-30 | 烟台智旭光电科技有限公司 | Climbing robot for maintaining street lamp |
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| CN114986540A (en) | 2022-09-02 |
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