Lifting system of a liquidation robot and its control method and strategy

Abstract

The invention relates to a lifting system of a warehouse-closing robot and its control method and strategy. The servo motor transmits torque to the lifting rope components on both sides after being transferred to the drive shaft through a high-precision gear set, and the linear speed of the two-wire lifting mechanism is guaranteed from the hardware. The consistency provides the basis for quantitative lifting. The wire sensor installed above the frame and on one side of the wire reel provides a basis for the quantitative lifting of the system to be controlled. Bearings and high-precision axial matching shafts are used inside the supporting mechanism of the two cross linkages, and the line rail rollers and sliding seat guides are introduced at the same time, which reduces the axial and radial movement during the action of the linkages, thereby ensuring a single set of cross The rigidity of the connecting rod mechanism avoids the back and forth and left and right movement of the connected unwinding working mechanism. The limit sensor effectively guarantees the safety of the equipment, especially effectively avoids the mechanism collision problem caused by accidental failure or misoperation during the installation and commissioning of the equipment.

Description

technical field [0001] The invention relates to the field of grain leveling, in particular to a leveling robot lifting system and its control method and strategy. Background technique [0002] At present, the closing work of grain storage in my country is purely manual work. Not only is the closing speed slow, labor-intensive and labor-intensive, but also the quality of closing is difficult to guarantee, especially for grain piles with large height differences. Warehouse machine to achieve liquidation. [0003] A Chinese patent discloses a grain leveling machine (authorized announcement number CN203998207U), which includes horizontally arranged rails along the inner walls on both sides of the warehouse. There are brackets placed horizontally between the rails. Track wheels, at least one track wheel is driven by a motor, and there is also an unwinding device slidingly connected with the bracket on the bracket. The unwinding equipment includes a rotating rod driven by a motor,...

AI Technical Summary

Problems solved by technology

[0004] Combining the above patents and the existing commonly used unwinding equipment, the following problems generally exist: 1. The lifting stroke of the unwinding equipment is insufficient, and when the granary is not fully loaded, the stirring blades of the unwinding equipment cannot touch the grain; 2. , It does not have the ability of self-lifting and obstacle avoidance, and the degree of intelligence is not high; 3. The traditional lifting mechanism uses a scissor lift, and the lift uses slide rails and sliders as travel limits. It is easy to wear the slider and the slide rail under the drop and drag, which will further cause shaking

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