CN116021534A - Laser guiding transportation long arm rod piece resonance damping robot - Google Patents

Abstract

The application discloses a laser-guided traffic long-arm rod member resonance damping robot relates to the technical field of road traffic. Comprising the following steps: the robot comprises a robot main body, a laser emitter, a control circuit board and a power supply; the robot main body comprises a supporting plate, a balancing weight, a power mechanism, a transmission shaft, a tire and an automatic rebound support arm; the control circuit board comprises a photosensitive sensor, a detection unit, an MCU, a drive control unit and a power supply unit; the laser transmitter projects laser to the photosensitive sensor, the MCU sends an action instruction to the drive control unit by judging the resistance value of the photosensitive sensor, and the drive control unit controls the motor to enable the robot to move back and forth in the cantilever rod.

Description

Laser guiding transportation long arm rod piece resonance damping robot

Technical Field

The application relates to the technical field of road traffic, in particular to a laser guided traffic long-arm rod piece resonance damping robot.

Background

Along with the continuous densification of the highway network, the urban traffic structure is more and more complicated and diversified, and the highway network intellectualization is a necessary trend of urban development, so that a great deal of application of urban intelligent traffic basic hardware, such as traffic signal lamps, countdown timers, high-definition cameras, LED light supplementing lamps, speed measuring radars, whistling noise grabbing equipment, environment intellectualization sensors, radar integrated machines, data transmission antennas and the like, is also carried out synchronously, and more digital intelligent equipment needs to be erected on roads.

The road intelligent equipment is generally erected in the form of a portal frame or a traffic single long-arm rod, and because the portal frame type traffic information rod has the defect that the carrying traffic of an oversized part is limited, the traffic single long-arm rod generally extends to the center of a road, and when the oversized part needs to pass, the traffic single long-arm rod can be bypassed to pass, so that the road intelligent equipment is erected in the form of the traffic single long-arm rod widely on the road at present.

The working cable of the device is usually arranged in the cantilever rod of the traffic single long-arm rod member, the lower side of the cantilever rod is usually provided with a threading opening, and the side or the upper side is not provided with the threading opening, because the side and the upper side are extremely easy to enter water under the natural environment condition to cause line faults.

The traffic single long arm rod piece is composed of a vertical rod and a cantilever rod, the traffic single long arm rod piece is generally 6-7m in height, the length of the cantilever rod is generally 4-6 times of the height of the cantilever rod piece, in order to lighten the weight and improve the bearing capacity, the diameters of the tail end and the top end of the rod body are generally in a conical structure with a gap of 2-2.5 times, as the cantilever rod is relatively long, the intelligent development of a highway network enables more equipment to be erected on the cantilever rod, the stress of the cantilever rod is also increased, the risk of potential safety hazards of the cantilever rod is also displayed, particularly in severe weather such as strong wind, the weight on the cantilever rod is increased to enable the cantilever rod to be more easily influenced by the strong wind to generate high-frequency up-down vibration, if certain vibration frequency is achieved, resonance phenomenon is likely to occur, the joint of the vertical rod and the cantilever rod is broken, and accidents are caused.

In addition, vibration of the cantilever rod can influence visual fatigue caused by observation of a traffic signal lamp and a countdown timer by a driver, and the phenomenon of inaccurate positioning caused by vibration of the rod, which affects capturing of a radar, a camera and other intelligent road equipment on a remote target, affects accuracy and reliability of acquisition of road information.

Disclosure of Invention

The utility model provides an object provides a laser guidance transportation long arm member resonance damping robot, through detecting the relative displacement of robot end laser sensor and photosensitive sensor stiff end, control robot back-and-forth movement in the cantilever bar, utilize the counter weight of robot to produce one with the cantilever bar when the opposite direction of the atress condition force to this slows down the vibration frequency and the range of cantilever bar, thereby guarantees the stability of road check out test set on the cantilever bar, and prevents that the cantilever bar from producing resonance, reduces the cracked risk of cantilever bar.

To achieve the above object, the present application provides the following solutions:

a laser guided traffic long arm lever resonance damping robot comprising: the robot comprises a robot main body, a laser emitter, a control circuit board and a power supply; the robot main body comprises a supporting plate, a balancing weight, a power mechanism, a transmission shaft, a tire, an automatic rebound support arm and an equipment cabin; the power mechanism comprises a motor, a belt pulley and a belt; the belt pulley is fixed on the transmission shaft and the motor, and the motor drives the belt pulley to control the transmission shaft to rotate through a belt; the transmission shaft comprises an outer shaft cylinder, an inner shaft column, a first rolling bearing, a second rolling bearing and a spring; the shaft outer cylinder is provided with a through groove, the shaft inner column is provided with a limiting bulge for limiting the movement of the shaft inner column in the through groove on the shaft outer cylinder, and the spring is positioned in the center of the shaft outer cylinder and is extruded by the shaft inner columns at two ends; the shaft outer cylinder is fixedly provided with the first rolling bearing and is used for fixedly connecting with the supporting plate; the balancing weight is fixedly connected with one surface of the supporting plate, and the motor is fixedly connected with the other surface of the supporting plate; the second rolling bearing is fixed on the shaft inner column and used for fixing the connecting automatic rebound support arm; the tire is fixedly connected with the inner shaft column; the control circuit board comprises a photosensitive sensor, a detection unit, an MCU, a drive control unit and a power supply unit, wherein the laser transmitter is connected with the power supply unit, the motor is connected with the drive control unit and the power supply unit, and the power supply unit is connected with the power supply; the laser transmitter projects laser to the photosensitive sensor, the detection unit measures the resistance value of the photosensitive sensor and sends the resistance value to the MCU, the MCU sends a corresponding action instruction to the drive control unit by judging the resistance value of the photosensitive sensor, and the drive control unit controls the motor to enable the robot to move back and forth in the cantilever.

Further, the laser guided transportation long-arm rod resonance damping robot is located in the cantilever rod of the transportation single-arm rod, the control circuit board is fixed at the position of the joint of the cantilever rod and the upright rod of the transportation single-arm rod, and the photosensitive sensor on the control circuit board is located at the center of the joint of the cantilever rod and the upright rod.

Further, the supporting plate and the balancing weight are two groups which are vertically symmetrical, and the motor is positioned in the equipment cabin.

Further, the laser transmitter is located at the horizontal center of the robot, and the robot is provided with a laser transmitter at the front and back.

Furthermore, the light beams projected by the laser transmitters are dense lattices with gradually changed light intensity; the laser transmitter and the photosensitive sensor are on the same horizontal plane.

Furthermore, the tire of the laser guided transportation long-arm rod member resonance damping robot is designed to be a single inclined plane with a slightly larger inner caliber and is more close to the inner arc shape of the cantilever rod, so that the resonance damping robot is positioned at the central position in the cantilever rod of the transportation single-arm rod member, and the transverse deflection of the resonance damping robot is prevented; the tire is provided with insections, so that friction force is increased.

Further, the transmission shaft is telescopic and can adapt to the conical cantilever rod.

Further, the automatic rebound support arm plays a supporting role, so that the tire is always positioned at the maximum diameter position in the cantilever rod in the moving process of the robot.

The beneficial effect of the technical scheme of this application:

according to the laser-guided transportation long-arm rod member resonance damping robot, the laser-guided transportation long-arm rod member resonance damping robot moves back and forth in the cantilever rod, the balancing weight on the laser-guided transportation long-arm rod member resonance damping robot generates a force opposite to the stress condition of the cantilever rod, the damping effect is achieved, the vibration frequency and amplitude of the cantilever rod of the transportation single-arm rod member are slowed down, and therefore the risk of resonance fracture of the cantilever rod connecting end is reduced.

The tyre is designed as a single inclined plane with a slightly larger inner caliber, so that the laser guided transportation long arm rod piece resonance damping robot is positioned at the maximum diameter position of the cantilever rod under the action of a spring. The laser guided transportation long arm rod piece resonance damping robot uses the side surface as a reference surface when in motion, is not influenced by the upper cable at the lower side of the cantilever rod, and simultaneously reserves sufficient space for threading in the cantilever rod. In addition, the tire increases the contact area of the laser guided transportation long-arm rod piece resonance damping robot in the cantilever rod, the design of deeper insections increases the friction force between the tire and the cantilever rod, and the stability of the laser guided transportation long-arm rod piece resonance damping robot in the cantilever rod during movement is ensured.

The telescopic design of the transmission shaft and the supporting force action of the automatic rebound support arm enable the laser guided transportation long arm rod piece resonance damping robot to be capable of adapting to the conical cantilever rod in the moving process of the cantilever rod, and the resonance damping robot tire can be guaranteed to be always located at the maximum diameter position in the cantilever rod.

The laser transmitter is located the horizontal center position of robot, and all is provided with a laser transmitter around the robot, makes the robot can overturn at will and places, does not have the influence to the detection, and the operability is good.

The resonance damping robot for the long-arm rod piece can also be used for flaw detection in a long-arm rod pipe and cable threading in a cantilever rod, so that the effect of multiple purposes of one machine is achieved.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is an elongation and contraction state diagram of a laser guided traffic long arm lever resonance damping robot provided herein;

FIG. 2 is a top view of a laser guided traffic long arm lever resonance damping robot provided herein;

FIG. 3 is a cross-sectional view of a laser guided transportation long arm lever resonance damping robot drive shaft provided by the present application;

FIG. 4 is a diagram of the position of a laser guided traffic long arm rod resonance damping robot provided herein within a minimum diameter cantilever rod;

FIG. 5 is a schematic diagram of a laser lattice of a laser transmitter provided herein;

FIG. 6 is a schematic diagram of the overall arrangement of a laser guided traffic long arm lever resonance damping robot provided by the present application;

FIG. 7 is a control schematic block diagram of a laser guided traffic long arm lever resonance damping robot provided by the present application;

the reference numerals in the figures illustrate:

100. a robot main body; 200. a laser emitter; 300. a control circuit board; 400. a power supply; 101. a support plate; 102. balancing weight; 103. a power mechanism; 104. a transmission shaft; 105. a tire; 106. an automatic rebound arm; 107. an equipment compartment; 301. a photosensitive sensor; 302. a detection unit; 303. an MCU; 304. a drive control unit; 305. a power supply unit; 1031. a motor; 1032. a belt pulley; 1033. a belt; 1041. a shaft outer cylinder; 1042. an inner shaft column; 1043. a first rolling bearing; 1044. a second rolling bearing; 1045. a spring; 500. a cantilever bar;

Detailed Description

The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without creative efforts, based on the embodiments herein are within the scope of protection of the present application.

In order that the above-recited objects, features and advantages of the present application will become more readily apparent, a more particular description of the invention briefly described above will be rendered by reference to specific embodiments that are illustrated in the appended drawings.

A laser guided traffic long arm lever resonance damping robot comprising: a robot body 100, a laser emitter 200, a control circuit board 300, and a power supply 400; the robot main body 100 comprises a supporting plate 101, a balancing weight 102, a power mechanism 103, a transmission shaft 104, a tire 105, an automatic rebound arm 106 and an equipment cabin 107; the power mechanism 103 comprises a motor 1031, a belt pulley 1032 and a belt 1033; the belt pulley 1032 is fixed on the transmission shaft 104 and the motor 1031, and the motor 1031 drives the belt pulley 1032 to control the transmission shaft 104 to rotate through the belt 1033; the transmission shaft 104 includes a shaft outer cylinder 1041, a shaft inner column 1042, a first rolling bearing 1043, a second rolling bearing 1044, and a spring 1045; the shaft outer cylinder 1041 is provided with a through groove, the shaft inner column 1042 is provided with a limit bulge for limiting the movement of the shaft inner column in the through groove on the shaft outer cylinder, and the spring 1045 is positioned in the center of the shaft outer cylinder 1041 and is extruded by the shaft inner columns 1042 at two ends; a first rolling bearing 1043 is fixed on the shaft outer cylinder 1041 and is used for fixedly connecting the support plate 101; the balancing weight 102 is fixedly connected with one surface of the supporting plate 101, the supporting plate 101 and the balancing weight 102 are two groups which are vertically symmetrical, and the motor 1031 is fixed in the equipment compartment 107; a second rolling bearing 1044 is fixed on the inner shaft post 1042 and is used for fixedly connecting the automatic rebound arm 106; the tire 105 is fixedly connected with the inner axle column 1042; the control circuit board 300 comprises a photosensitive sensor 301, a detection unit 302, an MCU303, a drive control unit 304 and a power supply unit 305, the laser transmitter 200 is connected with the power supply unit 305, the motor 1031 is connected with the drive control unit 304 and the power supply unit 305, and the power supply unit 305 is connected with the power supply 400; the laser emitter 200 projects laser onto the photosensitive sensor 301, the detection unit 302 measures the resistance value of the photosensitive sensor 301 and sends the resistance value to the MCU303, the MCU303 sends an action instruction to the drive control unit 304 by judging the resistance value, and the drive control unit 304 controls the motor 1031 to enable the robot to move back and forth in the cantilever 500;

as shown in fig. 6, in this embodiment, the cantilever 500 of the traffic single-long-arm rod is a tapered circular galvanized steel pipe, the control circuit board 300 is fixed at the position where the cantilever 500 and the upright 600 of the traffic single-long-arm rod are connected, and the photosensitive sensor 301 on the control circuit board 300 is located at the central position where the cantilever 500 and the upright 600 are connected; the laser guided traffic long-arm rod resonance damping robot is connected with the control circuit board 300 through a spiral wire, the laser guided traffic long-arm rod resonance damping robot is placed into the cantilever rod 500 of the traffic single-arm rod, the tire 105 of the laser guided traffic long-arm rod resonance damping robot is of a single inclined plane design with a slightly larger inner caliber and is more close to the arc shape in the cantilever rod 500, so that the laser guided traffic long-arm rod resonance damping robot is positioned at the maximum diameter position in the cantilever rod 500 of the traffic single-arm rod, and the transverse deflection of the laser guided traffic long-arm rod resonance damping robot is prevented; the tire 105 is provided with insections, so that friction force is increased; the laser transmitter 200 is positioned at the horizontal center of the robot, the laser transmitter 200 and the photosensitive sensor 301 are positioned on the same horizontal plane, and the front and the back of the robot are respectively provided with one laser transmitter 200, so that the robot can be randomly placed in the cantilever 500 without checking the direction; the MCU sets a photosensitive sensor 301 threshold value that when R is more than or equal to 50kΩ, the robot moves forward, when R is more than or equal to 20kΩ and less than 50kΩ, the robot moves backward, and when R is less than 20kΩ, the robot stops moving; the robot moves towards the vertical rod direction, the laser transmitter 200 is started, the light beam projected by the laser transmitter 200 is in a dense lattice with gradually changed light intensity, as shown in fig. 5, when the middle strongest light irradiates the photosensitive sensor 301, the resistance value of the photosensitive sensor 301 is about 15k omega;

the robot is placed in the cantilever 500 to start the laser emitter 200, and automatically moves to a position when the laser maximum light lattice point irradiates the photosensitive sensor 301 to stop moving; when the cantilever 500 of the traffic single-long arm rod member vibrates up and down with a certain frequency in the presence of strong wind, when the cantilever 500 deflects downwards, the center point position of the robot in the cantilever 500 is also lower, the laser lattice also deflects downwards, the light intensity sensed by the value of the photosensitive sensor 301 is the weakest position, the detection unit 302 detects that the value of the photosensitive sensor 301 is 60kΩ, the detection unit 302 sends the resistance to the MCU303, the MCU303 sends an action instruction of forward movement of the robot to the drive control unit 304 by judging that the resistance is in the range of R more than or equal to 50kΩ, the drive control unit 304 controls the motor 1031 to enable the robot to move forwards, and the automatic rebound arm 106 of the resonance damping robot supports the tyre 105 to extend towards two sides, so that the tyre 105 is always positioned at the maximum diameter position in the cantilever 500 in the moving process of the resonance damping robot; when the detection unit 302 detects that the value of the photosensitive sensor 301 is 18kΩ, the detection unit 302 sends the resistance to the MCU303, and the MCU303 determines that the resistance is in the range of R < 20kΩ, the MCU303 sends an action command for stopping movement to the drive control unit 304, and the drive control unit 304 controls the motor 1031 to stop rotating;

when the cantilever rod is upwards deflected, the center point position of the robot in the cantilever rod 500 is higher, the laser lattice is upwards deflected, the light intensity sensed by the photosensitive sensor 301 is weaker, the detection unit 302 detects that the value of the photosensitive sensor 301 is 40kΩ, the detection unit 302 sends the resistance value to the MCU303, the MCU303 sends an action instruction of the robot moving backwards to the drive control unit 304 by judging that the resistance value is in the range that R is less than or equal to 20kΩ and less than 50kΩ, the drive control unit 304 controls the motor 1031 to enable the robot to move backwards, the spring 1045 in the transmission shaft 104 of the resonance damping robot is compressed, the automatic rebound support arm 106 is recovered inwards, and the tire 105 is always positioned at the maximum diameter position in the cantilever rod 500 in the moving process of the resonance damping robot; when the detection unit 302 detects that the value of the photosensitive sensor 301 is 18kΩ, the detection unit 302 sends the resistance to the MCU303, and the MCU303 determines that the resistance is in the range of R < 20kΩ, the MCU303 sends an action command for stopping movement to the drive control unit 304, and the drive control unit 304 controls the motor 1031 to stop rotating; the robot moves in opposite directions along with the up-and-down vibration of the cantilever rod 500, so as to slow down the vibration frequency and amplitude of the cantilever rod of the traffic single-long-arm rod, thereby reducing the risk of resonance fracture of the connecting end of the cantilever rod.

It should be noted that, as shown in fig. 1, this embodiment only shows one implementation manner of the laser guided long-arm rod resonant damping robot, but does not indicate that the laser guided long-arm rod resonant damping robot provided in this application has only one arrangement manner; the number, position, angle, etc. of the specific settings can be set according to the needs in practical application.

In the description of the present application, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "vertical," "transverse," "top," "bottom," "inner," "outer," "surface," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the present application, and do not indicate or imply that the devices or elements being referred to must have a particular orientation, be configured and operated in a particular orientation, and thus should not be construed as limiting the present application.

In the description of the present application, it should be noted that, unless explicitly specified and limited otherwise, the terms "connected," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; may be a mechanical connection; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the terms in this application can be understood by those of ordinary skill in the art in a specific context.

The above embodiments are merely illustrative of the preferred modes of the present application, and are not intended to limit the scope of the present application, and various modifications and improvements made by those skilled in the art to the technical solutions of the present application should fall within the protection scope defined by the claims of the present application without departing from the design spirit of the present application.

Claims (8)

1. A laser guided traffic long arm lever resonance damping robot, comprising: the robot comprises a robot main body, a laser emitter, a control circuit board and a power supply; the robot main body comprises a supporting plate, a balancing weight, a power mechanism, a transmission shaft, a tire, an automatic rebound support arm and an equipment cabin; the power mechanism comprises a motor, a belt pulley and a belt; the belt pulley is fixed on the transmission shaft and the motor, and the motor drives the belt pulley to control the transmission shaft to rotate through the belt; the transmission shaft comprises an outer shaft cylinder, an inner shaft column, a first rolling bearing, a second rolling bearing and a spring;

the control circuit board comprises a photosensitive sensor, a detection unit, an MCU, a drive control unit and a power supply unit, wherein the laser transmitter projects laser to the photosensitive sensor, the detection unit measures the resistance value of the photosensitive sensor and sends the resistance value to the MCU, the MCU sends an action instruction to the drive control unit by judging the resistance value of the photosensitive sensor, and the drive control unit controls the motor to enable the robot to move back and forth in the cantilever.

2. The laser guided traffic long-arm rod piece resonance damping robot according to claim 1, wherein the shaft outer cylinder is provided with a through groove, the shaft inner column is provided with a limiting protrusion for limiting the movement of the shaft inner column in the through groove on the shaft outer cylinder, and the spring is positioned in the center of the shaft outer cylinder and is extruded by the shaft inner columns at two ends; the shaft outer cylinder is fixedly provided with the first rolling bearing and is used for fixedly connecting with the supporting plate; the second rolling bearing is fixed on the shaft inner column and is used for fixedly connecting the automatic rebound support arm; the tire is fixedly connected with the shaft inner column.

3. The laser guided traffic long arm bar resonance damping robot of claim 1, wherein the laser transmitter is connected to the power supply unit, the motor is connected to the drive control unit and the power supply unit, and the power supply unit is connected to the power supply source.

4. The laser guided traffic long-arm rod resonance damping robot according to claim 1, wherein the laser transmitters are positioned at the horizontal center of the robot, and the laser transmitters are arranged in front of and behind the robot; the light beams projected by the laser transmitters are in dense lattices with gradually changed light intensity; the laser transmitter and the photosensitive sensor are on the same horizontal plane.

5. The laser guided long-arm rod resonance damping robot according to claim 1, wherein the tire is of a single inclined plane design with a slightly larger inner caliber, and is closer to the inner arc shape of the cantilever rod, so that the resonance damping robot is positioned at the center position of the cantilever rod of the single long-arm rod, and the resonance damping robot is prevented from being laterally deflected; the tire is provided with insections, so that friction force is increased.

6. The laser guided traffic long arm bar resonance damping robot of claim 1, wherein the drive shaft is telescoping and adaptable to a tapered cantilever.

7. The laser guided traffic long arm bar resonance damping robot of claim 2 wherein the automatic rebound arm supports to ensure that the tire is always in the center of the cantilever bar during movement of the robot.

8. The laser guided long arm rod resonance damping robot according to claim 1, wherein the resonance damping robot is located in a cantilever of a single long arm rod, the control circuit board is fixed at a position of a junction of the cantilever and the upright of the single long arm rod, and the photosensitive sensor on the control circuit board is located at a central fixed position of the junction of the cantilever and the upright.

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