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CN-122008323-A - Intelligent arm body adjusting system suitable for height of 12-26 meters

CN122008323ACN 122008323 ACN122008323 ACN 122008323ACN-122008323-A

Abstract

The invention discloses an intelligent arm body adjusting system suitable for a height of 12-26 meters, which comprises a multi-section telescopic arm module, a gesture sensing module, a visual positioning module, an end execution module, a central control module, a communication relay module, an environment sensing module and a safety retraction unit. The system fuses multisource sensing data through central control module, realizes that the arm body is accurate flexible and gesture stable, and the terminal integrated shovel is burnt, is polished, dust absorption function to possess self-adaptation load compensation and bimodulus communication redundancy. The safety retraction is automatically triggered when the communication is interrupted, the posture is unstable or the electric quantity is insufficient, so that the safety, the precision and the efficiency of the operation in the ultra-high altitude narrow furnace chamber are ensured.

Inventors

  • GAO KUN
  • WU HANLIN
  • SHA XIANMING
  • MA LIN
  • Han Keju

Assignees

  • 长沙变化率信息技术有限公司

Dates

Publication Date
20260512
Application Date
20260414

Claims (8)

  1. 1. The intelligent arm body adjusting system suitable for the height of 12-26 meters is characterized by comprising a multi-section telescopic arm module (1), a gesture sensing module (2), a visual positioning module (3), an end execution module (4), a central control module (5), a communication relay module (6), an environment sensing module (7) and a safety retraction unit (8), wherein the multi-section telescopic arm module (1), the gesture sensing module (2), the visual positioning module (3), the end execution module (4) and the environment sensing module (7) send real-time working signals to the central control module (5) for processing, the central control module (5) transmits processed control instructions to the multi-section telescopic arm module (1) to cooperatively execute actions with the end execution module (4), and meanwhile key state data is uploaded to a remote monitoring end through the communication relay module (6), and the central control module (5) also transmits processed abnormal signals to the safety retraction unit (8).
  2. 2. The intelligent arm body adjusting system suitable for the height of 12-26 meters according to claim 1, further comprising an adaptive load compensating unit (9), wherein the adaptive load compensating unit (9) generates a load feedback signal according to the current operation type of the end execution module (4) and sends the load feedback signal to the central control module (5), and the central control module (5) dynamically adjusts the driving torque and the stretching speed of each section of the multi-section telescopic arm module (1) according to the load feedback signal.
  3. 3. The intelligent arm body adjusting system suitable for the height of 12-26 meters according to claim 1, wherein the multi-section telescopic arm module (1) comprises a first section arm unit (10), a second section arm unit (11), a third section arm unit (12) and a last section arm unit (13), the first section arm unit (10), the second section arm unit (11), the third section arm unit (12) and the last section arm unit (13) are respectively provided with independent servo drivers, and each servo driver receives a section telescopic instruction issued by the central control module (5) to realize step-by-step synchronous or asynchronous extension and retraction.
  4. 4. The intelligent arm body adjusting system suitable for the height of 12-26 m according to claim 1, wherein the end execution module (4) comprises a coke shoveling unit (14), a polishing unit (15) and a dust collection unit (16), the coke shoveling unit (14), the polishing unit (15) and the dust collection unit (16) are respectively provided with a pressure feedback sensor, and pressure signals output by the pressure feedback sensors are analyzed by the central control module (5) and then are used for adjusting the operation force and the operation time sequence of each unit.
  5. 5. The intelligent arm body adjusting system suitable for the height of 12-26 meters according to claim 1, wherein the priority order of the processing signals of the central control module (5) is sequentially an environment sensing module (7), a gesture sensing module (2), a visual positioning module (3), a multi-section telescopic arm module (1) and an end execution module (4).
  6. 6. The intelligent arm body adjusting system suitable for the height of 12-26 m according to claim 1, wherein the posture sensing module (2) comprises an inclination sensor, a gyroscope and an accelerometer, fusion data of the inclination sensor, the gyroscope and the accelerometer are calculated by the central control module (5) to generate an arm body space posture parameter, and when the posture deviation exceeds a preset threshold value, the central control module (5) triggers the safety retraction unit (8) to start an emergency retraction program.
  7. 7. The intelligent arm body adjusting system suitable for the height of 12-26 meters according to claim 1, wherein the communication relay module (6) comprises an optical fiber collecting and releasing unit (17) and a wireless relay unit (18), the optical fiber collecting and releasing unit (17) synchronously releases or recovers high-temperature-resistant optical fibers along with the multi-section telescopic arm module (1), and the wireless relay unit (18) is deployed in the middle of the arm body and is used for automatically switching to an anti-interference wireless link when the optical fibers are interrupted.
  8. 8. The intelligent arm body adjusting system suitable for the height of 12-26 m according to claim 1, wherein the safety retraction unit (8) is connected with the central control module (5) through a hard wire and is integrated with an electric quantity monitoring circuit, and when the residual electric quantity of a system battery is lower than a set threshold value, the safety retraction unit (8) starts a retraction program.

Description

Intelligent arm body adjusting system suitable for height of 12-26 meters Technical Field The invention relates to the technical field of high-altitude operation equipment, in particular to an intelligent arm body adjusting system suitable for a height of 12-26 m. Background In the operation and maintenance process of the industrial incinerator, a large amount of accumulated ash and coke blocks are often generated on the inner wall and the top of the incinerator due to high-temperature combustion, so that the heat efficiency is seriously affected, and potential safety hazards are possibly caused, and therefore, ash removal and coke removal operations are required to be carried out regularly. However, the existing incinerator structure generally has the characteristics of small inlet diameter, high internal space (more than 20 meters) and the like, so that the manual work is difficult to enter, the whole operation area cannot be effectively covered by the traditional cleaning tool or the fixed equipment, and a feasible automatic cleaning means is lacked in the height range of 12-26 meters. At present, although part of ash removing robots exist in the market, the mechanical arm is limited in length and insufficient in degree of freedom, and is difficult to spread under a narrow entrance condition and accurately position a high-position target, and meanwhile, most systems lack multi-sensor fusion and intelligent visual recognition capabilities, so that automatic recognition and path planning of the position of a focusing block cannot be realized, and the process efficiency of ash removing, coke shoveling, polishing, dust collection and the like is low or even cannot be completed. In addition, for cooperative control of the multi-section extensible mechanical arm with the size of tens of meters, the problems of response delay, uncoordinated action, poor positioning precision and the like commonly exist in the prior art, and the requirement of high-reliability operation in a complex furnace environment is difficult to meet. Therefore, an arm body adjusting system which is suitable for the operation height of 12-26 m and has the intelligent sensing and multi-degree-of-freedom precise control capability is needed to solve the automation problem of high-place ash removal and decoking in the incinerator. Disclosure of Invention The invention aims to provide an intelligent arm body adjusting system suitable for a height of 12-26 meters, and solves the problems in the background art. The intelligent arm body adjusting system suitable for the height of 12-26 meters comprises a multi-section telescopic arm module, a gesture sensing module, a visual positioning module, an end execution module, a central control module, a communication relay module, an environment sensing module and a safety retraction unit, wherein the multi-section telescopic arm module, the gesture sensing module, the visual positioning module, the end execution module and the environment sensing module send real-time working signals to the central control module for processing, the central control module transmits processed control instructions to the multi-section telescopic arm module to cooperatively execute actions with the end execution module, key state data is uploaded to a remote monitoring end through the communication relay module, and the central control module also transmits processed abnormal signals to the safety retraction unit. Further, the intelligent arm body adjusting system suitable for the height of 12-26 meters further comprises a self-adaptive load compensation unit, wherein the self-adaptive load compensation unit generates a load feedback signal according to the current operation type of the end execution module and sends the load feedback signal to the central control module, and the central control module dynamically adjusts driving torque and stretching speed of each section of the multi-section telescopic arm module according to the load feedback signal. Further, the multi-section telescopic arm module comprises a first section arm unit, a second section arm unit, a third section arm unit and a last section arm unit, wherein the first section arm unit, the second section arm unit, the third section arm unit and the last section arm unit are respectively provided with independent servo drivers, and each servo driver receives a segmented telescopic instruction issued by the central control module to realize step-by-step synchronous or asynchronous extension and retraction. Further, the end execution module comprises a coke shoveling unit, a polishing unit and a dust collection unit, wherein the coke shoveling unit, the polishing unit and the dust collection unit are respectively provided with a pressure feedback sensor, and pressure signals output by the pressure feedback sensors are analyzed by the central control module and then are used for adjusting the operation force and the operation time sequence of each unit. Furthe