阅读说明：本技术 一种用于易燃物的搬运机器人系统及其使用方法 (Conveying robot system for inflammable matters and use method thereof ) 是由 梁瑞琼 于 2021-07-29 设计创作，主要内容包括：本发明涉及一种用于易燃物的搬运机器人系统及其使用方法,该系统包括第一方向移动机构、第二方向移动机构、纵向移动机构,第一方向移动机构包括支架,支架上设置有若干第一线性导轨,第一线性导轨的两端均设置有第一气缸,而且第一线性导轨连接导向板,第一气缸用于限定所述导向板的极限运动位置；在易燃物的搬运的过程中,对易燃物的表面的静电进行检测,当检测到静电时,利用静电发生器发出离子风通过气管进入到风口板上,在导轨的作用下对易燃物的绝缘体表面进行全方位的消除静电,进而消除了易燃物与易燃物之间由于静电原因产生的强电场的可能性,避免了易燃物上的绝缘体产生的静电累积产生的危险隐患,提高运输过程的安全性。(The invention relates to a transfer robot system for inflammables and a using method thereof, wherein the system comprises a first direction moving mechanism, a second direction moving mechanism and a longitudinal moving mechanism, the first direction moving mechanism comprises a support, a plurality of first linear guide rails are arranged on the support, two ends of each first linear guide rail are respectively provided with a first air cylinder, the first linear guide rails are connected with a guide plate, and the first air cylinders are used for limiting the limit movement positions of the guide plates; in the process of the transport of inflammables, the static on the surface of the inflammables is detected, when the static is detected, the static generator is utilized to send ion wind to enter the air port plate through the air pipe, the static is eliminated in an all-around mode on the surface of the insulator of the inflammables under the action of the guide rail, the possibility of a strong electric field generated due to static reasons between the inflammables and the inflammables is eliminated, the dangerous hidden danger caused by static accumulation generated by the insulator on the inflammables is avoided, and the safety of the transportation process is improved.)

1. A transfer robot system for inflammable substances comprises a first direction moving mechanism, a second direction moving mechanism and a longitudinal moving mechanism, and is characterized in that,

the first direction moving mechanism comprises a support, a plurality of first linear guide rails are arranged on the support, first air cylinders are arranged at two ends of each first linear guide rail, the first linear guide rails are connected with a guide plate, the first air cylinders are used for limiting the extreme movement positions of the guide plates, the first linear guide rails are symmetrically arranged at two sides of the support, and the guide plates are arranged between the two first linear guide rails;

the second direction moving mechanism comprises a plurality of second linear slide rails connected with the guide plate and a first driving motor connected with the guide plate, two ends of each second linear slide rail are provided with limiting blocks, the output end of the first driving motor is connected with a first gear, the first gear is meshed with a first rack to move linearly, the first rack is arranged on the support, the guide plate is also provided with a third driving motor, the third driving motor drives the guide plate to move linearly under the action of a gear and a rack, and the second linear guide rails are symmetrically arranged on two sides of the guide plate;

the longitudinal moving mechanism comprises a longitudinal supporting rack, a plurality of guide rods are arranged on the longitudinal supporting rack, the guide rods are connected with linear bearings to do linear motion, one ends of the guide rods are connected with a fixed block, the other ends of the guide rods are connected with a buffer block, a second air cylinder is arranged on the fixed block, and the second air cylinder is used for monitoring the moving position of the buffer block;

the longitudinal support frame is also provided with a third air cylinder, the output end of the third air cylinder is connected with the buffer block, and the periphery of the buffer block is provided with buffer pads;

the buffer pad is connected with an adjusting plate, a second driving motor is arranged on the adjusting plate, a first output end of the second driving motor is connected with a second gear, a second output end of the second driving motor is connected with a third gear, the second gear is meshed with a second rack, the third gear is meshed with a third rack, and the third rack is connected with an adsorption plate;

the adjusting plate is also provided with a moving guide rail, the moving guide rail is connected with an air port plate, the air port plate is provided with a plurality of fine holes, the fine holes are respectively provided with at least two air pipes, the other ends of the air pipes are respectively connected with a charge generator, and the charge generator eliminates positive charges or negative charges on inflammable substances through the air pipes;

the second direction moving mechanism is connected with the first direction moving mechanism through the guide plate, and the longitudinal moving mechanism is connected with the second direction moving mechanism through the longitudinal supporting frame.

2. A transfer robot system for combustibles according to claim 1, wherein a plurality of third linear guide rails are provided on the adsorption plate, the other ends of the third linear guide rails are connected to the adjustment plate, and clamping plates are provided at both ends of the adjustment plate.

3. A transfer robot system for combustibles according to claim 1, wherein a first sensor holder is further provided on the guide plate, and a first sensor for detecting a stacking height of the combustibles is provided on the first sensor holder.

4. The transfer robot system for combustibles according to claim 1, wherein the adjusting plate further comprises a plurality of probes, the probes are used for measuring static electricity on the combustibles to generate charge signals to be transmitted to the charge generator.

5. A method of using a transfer robot system for combustibles, the method being applied to the transfer robot system for combustibles according to any one of claims 1 to 4, the method comprising the steps of:

acquiring a charge signal fed back by a probe;

determining a potential signal according to the charge signal to obtain electrostatic potential information;

comparing the potential information with preset potential information to obtain a deviation rate;

judging whether the deviation rate is smaller than a preset deviation rate threshold value or not;

if the current value is less than the preset value, the air pipe is opened, and the charge generator is started;

if not, the charge generator is not started.

6. The method as claimed in claim 5, wherein the step of determining the potential signal according to the charge signal to obtain the potential information comprises the steps of:

acquiring a potential difference between the charge generator and a measured object;

obtaining an initial voltage signal through the potential difference to obtain an initial voltage signal;

amplifying the initial voltage signal and filtering useless signals in the voltage signal to obtain a secondary processing voltage signal;

and carrying out phase-sensitive detection processing on the secondary processing signal to obtain electrostatic potential information.

7. The method of using a transfer robot system for inflammables according to claim 6, wherein the electrostatic potential information includes the magnitude of the charge of static electricity, and the charge of static electricity is positive or negative.

Technical Field

The invention relates to the field of transfer robots, in particular to a transfer robot system for inflammable matters and a using method thereof.

Background

The transfer robot is used as a new industry in the information era, provides an extremely important technical support for high-speed automatic production and advanced manufacturing of modern industry, and plays an increasingly important role in expanding enterprise production, promoting social development and the like. In industrially developed countries such as japan, europe, and the united states, various types of transfer robots have been widely used in various fields such as chemical industry, food processing and packaging, logistics, and machine manufacturing, and have been rapidly extended and developed to other fields. As an irreplaceable important means and indispensable automatic industrial equipment in the production process of modern enterprises, industrial robots have changed the production and life style of the whole society to a great extent. In recent years, due to the requirements of greatly rising labor cost, adjustment of economic structures and industrial upgrading, the usage amount of the Chinese industrial robot is in a rapid and greatly rising trend, and the application field of the Chinese industrial robot is rapidly diffused from the traditional manufacturing industry to the industries of chemical industry, food processing packaging, logistics and the like. However, in the prior art, the problem of static electricity of some automatic conveying robots for inflammable substances still cannot be solved, particularly, in the transportation process, the inflammable substances can cause fire due to the generation of static electricity, and a strong electric field is generated between the static electricity and the static electricity due to the accumulation of the static electricity, so that electric sparks are generated between the electric fields, and the inflammable substances are burnt. The contact part accumulated by the inflammable matters still carries certain static electricity in the transportation process, and the static electricity cannot be completely removed, so that the static electricity is removed in the transportation process, accidents are avoided, the static electricity of the insulating material is not conductive, the static electricity of the insulating material on the outer surface of the inflammable matters still can be stored, and when the static electricity is stored to a certain amount, a larger static electric field is generated, and the potential safety hazard of spark generation exists in the transportation process of the static electric field.

Disclosure of Invention

The invention overcomes the defects of the prior art and provides a transfer robot system for inflammable substances and a using method thereof.

In order to achieve the purpose, the invention adopts the technical scheme that:

the invention provides a transfer robot system for inflammable matters in a first aspect, which comprises a first direction moving mechanism, a second direction moving mechanism and a longitudinal moving mechanism,

the first direction moving mechanism comprises a support, a plurality of first linear guide rails are arranged on the support, first air cylinders are arranged at two ends of each first linear guide rail, the first linear guide rails are connected with a guide plate, the first air cylinders are used for limiting the extreme movement positions of the guide plates, the first linear guide rails are symmetrically arranged at two sides of the support, and the guide plates are arranged between the two first linear guide rails;

the second direction moving mechanism comprises a plurality of second linear slide rails connected with the guide plate and a first driving motor connected with the guide plate, two ends of each second linear slide rail are provided with limiting blocks, the output end of the first driving motor is connected with a first gear, the first gear is meshed with a first rack to move linearly, the first rack is arranged on the support, the guide plate is also provided with a third driving motor, the third driving motor drives the guide plate to move linearly under the action of a gear and a rack, and the second linear guide rails are symmetrically arranged on two sides of the guide plate;

the longitudinal moving mechanism comprises a longitudinal supporting rack, a plurality of guide rods are arranged on the longitudinal supporting rack, the guide rods are connected with linear bearings to do linear motion, one ends of the guide rods are connected with a fixed block, the other ends of the guide rods are connected with a buffer block, a second air cylinder is arranged on the fixed block, and the second air cylinder is used for monitoring the moving position of the buffer block;

the longitudinal support frame is also provided with a third air cylinder, the output end of the third air cylinder is connected with the buffer block, and the periphery of the buffer block is provided with buffer pads;

the buffer pad is connected with an adjusting plate, a second driving motor is arranged on the adjusting plate, a first output end of the second driving motor is connected with a second gear, a second output end of the second driving motor is connected with a third gear, the second gear is meshed with a second rack, the third gear is meshed with a third rack, and the third rack is connected with an adsorption plate;

the adjusting plate is also provided with a moving guide rail, the moving guide rail is connected with an air port plate, the air port plate is provided with a plurality of fine holes, the fine holes are respectively provided with at least two air pipes, the other ends of the air pipes are respectively connected with a charge generator, and the charge generator eliminates positive charges or negative charges on inflammable substances through the air pipes;

the second direction moving mechanism is connected with the first direction moving mechanism through the guide plate, and the longitudinal moving mechanism is connected with the second direction moving mechanism through the longitudinal supporting frame.

Further, in a preferred embodiment of the present invention, the adsorption plate is provided with a plurality of third linear guide rails, the other end of the third linear guide rails is connected to the adjustment plate, and the two ends of the adjustment plate are provided with the clamping plates.

Further, in a preferred embodiment of the present invention, a first sensor holder is further disposed on the guide plate, and a first sensor is disposed on the first sensor holder and used for detecting a stacking height of the inflammable substance.

Further, in a preferred embodiment of the present invention, the adjusting plate is further provided with a plurality of probes, and the probes are used for measuring static electricity on inflammable matters so as to generate a charge signal to be transmitted to the charge generator.

The second aspect of the present invention provides a method for using a transfer robot system for combustibles, which is applied to any one of the transfer robot systems for combustibles, and comprises the following steps:

acquiring a charge signal fed back by a probe;

determining a potential signal according to the charge signal to obtain electrostatic potential information;

comparing the potential information with preset potential information to obtain a deviation rate;

judging whether the deviation rate is smaller than a preset deviation rate threshold value or not;

if the current value is less than the preset value, the air pipe is opened, and the charge generator is started;

if not, the charge generator is not started.

Further, in a preferred embodiment of the present invention, the determining a potential signal according to the charge signal to obtain potential information specifically includes the following steps:

acquiring a potential difference between the charge generator and a measured object;

obtaining an initial voltage signal through the potential difference to obtain an initial voltage signal;

amplifying the initial voltage signal and filtering useless signals in the voltage signal to obtain a secondary processing voltage signal;

and carrying out phase-sensitive detection processing on the secondary processing signal to obtain electrostatic potential information.

Further, in a preferred embodiment of the present invention, the electrostatic potential information includes a magnitude of a charge carried by the static electricity, and the charge carried by the static electricity is a positive charge or a negative charge.

The invention solves the defects in the background technology, and has the following beneficial effects: during the transportation process of the inflammable, the static electricity on the surface of the inflammable is detected, when the static electricity is detected, the static electricity generator is used for generating ion wind which enters the tuyere plate through the air pipe, and the static electricity is eliminated on the surface of the insulator of the inflammable in all directions under the action of the guide rail, so that the possibility of a strong electric field between the inflammable and the inflammable due to the static electricity is eliminated, the dangerous hidden danger caused by the static electricity accumulation generated by the insulator on the inflammable is avoided, and the safety during the transportation process is improved; on the other hand, malfunction of the system due to accumulated static electricity during transportation is avoided.

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, 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 of the embodiments can be obtained according to the drawings without creative efforts.

Fig. 1 shows an overall structural schematic diagram of a transfer robot system;

fig. 2 is a schematic structural view showing a first-direction moving mechanism;

fig. 3 is a schematic structural view showing a second direction moving mechanism;

FIG. 4 is a schematic view showing the structure of the longitudinal moving mechanism;

fig. 5 is a partial schematic structural view of the longitudinal movement mechanism;

FIG. 6 shows a partial schematic view of the adjustment plate;

FIG. 7 illustrates a flow chart of a particular method of handling a robotic system;

FIG. 8 illustrates a flow chart of a method of obtaining electrostatic charge information;

in the figure:

1. a first direction moving mechanism, 2, a second direction moving mechanism, 3, a longitudinal moving mechanism, 101, a bracket, 102, a first linear guide rail, 103, a first cylinder, 104, a guide plate, 201, a second linear guide rail, 202, a first driving motor, 203, a limit block, 204, a first gear, 205, a first rack, 206, a third driving motor, 301, a longitudinal support frame, 302, a guide rod, 303, a linear bearing, 304, a fixed block, 305, a buffer block, 306, a second cylinder, 307, a third cylinder, 308, a buffer pad, 309, an adjusting plate, 310, a second driving motor, 311, a second gear, 312, a third gear, 313, a second rack, 314, a third rack, 315, an adsorption plate, 316, a third linear guide rail,

317. pick-up plate, 318, moving guide, 319, tuyere plate, 320, probe.

Detailed Description

In order that the above objects, features and advantages of the present invention can be more clearly understood, the present invention will be further described in detail with reference to the accompanying drawings and the detailed description, wherein the drawings are simplified schematic drawings and only the basic structure of the present invention is illustrated schematically, so that only the structure related to the present invention is shown, and it is to be noted that the embodiments and features of the embodiments in the present application can be combined with each other without conflict.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.

In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art through specific situations.

The invention provides a transfer robot system for inflammable matters, which comprises a first direction moving mechanism 1, a second direction moving mechanism 2 and a longitudinal moving mechanism 3,

as shown in fig. 1 and 2, the first direction moving mechanism 1 includes a support 101, a plurality of first linear guide rails 102 are disposed on the support 101, first air cylinders 103 are disposed at both ends of the first linear guide rails 102, and the first linear guide rails 102 are connected to a guide plate 104, the first air cylinders 103 are used for defining extreme movement positions of the guide plate 104; the first linear guide rails are symmetrically arranged on two sides of the bracket, and the guide plate is arranged between the two first linear guide rails; it should be noted that, in the first direction (set as the X-axis direction), the first gear 204 is driven by the first driving motor 202 in the first direction, so as to drive the second direction moving mechanism and the longitudinal moving mechanism to move in the X-axis direction, and convey the inflammable substance to a specified position. Under the effect of first rack 205, when pressing from both sides when getting the very big inflammables of quality, the weight that bears is heavier, the pressure that first linear guide rail on the support 101 received just is bigger, in the direction of motion of X axle, utilizes the meshing of first gear 204 and first rack 205 to carry out the transmission, and not only the transmission is more accurate, efficient, compact structure, reliable operation, longe-lived, and the transmission precision is higher moreover, utilizes this transmission moreover for dynamic load when can adapt to and alleviate the motion under the high-speed heavy load, thereby realize higher smooth transmission effect. And be provided with distance sensor on the first cylinder 103 that sets up on the extreme position of motion, this distance sensor can real-time feedback motion position, when being favorable to carrying in the X axle direction, realizes the drop point position of accurate control clamp thing.

As shown in fig. 1 and 3, the second-direction moving mechanism 2 includes a plurality of second linear sliding rails 201 connected to the guide plate 104, and a first driving motor 202 connected to the guide plate 104, two ends of each second linear sliding rail 201 are provided with a limit block 203, an output end of the first driving motor 202 is connected to a first gear 204, the first gear 204 is engaged with a first rack 205 to perform a linear motion, the first rack 205 is disposed on the bracket 101, the guide plate is further provided with a third driving motor 206, and the third driving motor 206 drives the guide plate to perform a linear motion under the action of the gears and the racks; it should be noted that the second direction is set as the Y-axis direction, the third driving motor 206 is used to drive the longitudinal moving mechanism to complete the linear motion in the Y-axis direction under the action of the gear and the rack, the two ends of the second linear guide rail 201 are provided with the limiting blocks 203, the limiting blocks 203 are provided with distance sensors, the motion positions can be fed back by the distance sensors in real time, and the accurate control of the position of the falling point of the object to be clamped is realized when the object is transported in the Y-axis direction.

As shown in fig. 1 and 4, the longitudinal moving mechanism 3 includes a longitudinal supporting frame 301, a plurality of guide rods 302 are disposed on the longitudinal supporting frame 301, the guide rods 302 are connected by a linear bearing 303 to make linear motion, one end of each guide rod 302 is connected to a fixed block 304, the other end of each guide rod 302 is connected to a buffer block 305, a second air cylinder 306 is disposed on the fixed block 304, and the second air cylinder 306 is used for monitoring the moving position of the buffer block 305. The longitudinal support frame 301 is further provided with a third air cylinder 307, an output end of the third air cylinder 307 is connected with the buffer block 305, and cushions 308 are arranged around the buffer block 305. The buffer pad 308 is connected with the adjusting plate 309, a second driving motor 310 is arranged on the adjusting plate 309, a first output end of the second driving motor 310 is connected with a second gear 311, a second output end of the second driving motor 310 is connected with a third gear 312, the second gear 311 is meshed with a second rack 313, the third gear 312 is meshed with a third rack 314, and the third rack 314 is connected with the adsorption plate 315. A plurality of third linear guide rails 316 are arranged on the adsorption plate 315, the other ends of the third linear guide rails 316 are connected with the adjusting plate 309, and clamping plates 317 are arranged at two ends of the adjusting plate 309. The second direction moving mechanism is connected with the first direction moving mechanism through the guide plate, and the longitudinal moving mechanism is connected with the second direction moving mechanism through the longitudinal supporting frame. It should be noted that the longitudinal direction is set to be the direction of the Z axis, in the process of clamping, the second cylinder 306 is used to push the buffer block 305 under the action of the guide rod 302 and the linear bearing to complete the linear movement in the direction of the Z axis, and when clamping inflammable matters, the second driving motor 310 is used to drive the second gear 311 and the second rack 313, the clamping plate 317 is driven under the action of the third linear guide 316, and the shape of the clamping plate 317 is not limited to the shape shown in the figure, and the clamping width is adjusted to complete the clamping action. During clamping, the meshing of the third gear 312 and the third rack 314 is adopted to increase the stability of clamping and releasing the inflammable matters, so that the clamping and releasing are more stable, and the service life of the equipment is longer. When the inflammable substance is clamped to move to a designated position, the clamping force of the hand of the inflammable substance can be adjusted by adjusting the clamping width without damaging the inflammable substance, the clamping plate 317 is made of a double-layer material, the first layer is made of an insulating material, the second layer is made of a material with conductive performance (such as copper, platinum and the like), the material with conductive performance is externally adopted, static electricity can be generated between the clamping part of the inflammable substance and the insulating material on the inflammable substance, and when the clamped part of the inflammable substance has static electricity, the static electricity can be absorbed by the metal material, and leakage or loss can be easily caused due to the static electricity generated by metal or the static electricity absorbed by metal. Moreover, the first layer of material is an insulating material, so that the phenomenon that static electricity is absorbed to form an electric field is avoided, and the conveying precision is influenced. In the process of carrying, when the cushion 308 is used for placing the clamped inflammable matter to a specified position, the cushion plays a role in damping, and the whole longitudinal moving mechanism 3 is protected.

Further, in a preferred embodiment of the present invention, the guide plate 104 is further provided with a first sensor support 105, and the first sensor support is provided with a first sensor for detecting a stacking height of the inflammable substance. When the material is transported to a designated position, the first sensor provided on the guide plate 104 sends a stop signal after reaching a target height during the stacking process, and the system stops operating, thereby transporting the material to the next designated transport position.

Further, in a preferred embodiment of the present invention, as shown in fig. 5, the adjusting plate 315 is further provided with a moving guide 318, the moving guide 318 is connected to an air port plate 319, the air port plate 319 is provided with a plurality of fine holes, each of the fine holes is provided with at least two air pipes, the other ends of the air pipes are connected to a charge generator, and the charge generator eliminates positive charges or negative charges on combustibles through the air pipes. The regulating plate 315 is further provided with a plurality of probes 320, and the probes 320 are used for measuring static electricity on inflammable matters so as to generate a charge signal to be transmitted to the charge generator. It should be noted that, when the probe 320 detects that static electricity is generated on the inflammable substance, the probe 320 sends an electrostatic signal to feed back to the charge generator, and the contact between the probe 320 and the inflammable substance is non-contact, and no matter the material of the surface of the inflammable substance is an insulating material or a metal material, an electric field is formed between the static electricity, and at this time, a potential difference is generated, and the potential difference generates a potential signal through the area between the probe 320 and the probe 320, which can be understood as that static electricity is detected. However, when the potential difference generated by the electric field between the static electricity exceeds the preset range, the movable guide rail 318 on the adsorption plate 315 is started at this time, the ionic wind is blown out from the surface of the inflammable matter through the air pipe, the static electricity on the insulator material of the inflammable matter is neutralized under the action of the movable guide rail 318 driving the air port plate, the phenomenon that a strong electric field is generated between the static electricity and electric sparks are generated between the electric fields due to accumulation of the static electricity is avoided, so that the inflammable matter is combusted, the static electricity on the insulator is cleaned before transportation, the operation can be completed in the transportation process, the static electricity on the outer surface of each piece of the combustion matter is cleaned, the phenomenon that the static electricity cannot be neutralized at the accumulation position is avoided, the time is saved, the static electricity removing effect of the combustion matter is enhanced, and the safety in transportation is improved. The other end of the charge generator is grounded so as to eliminate static electricity. On the other hand, the blown ion wind can also clean dust on the surface of inflammable matters, not only a cleaning effect is achieved, but also the dust also contains charged charges, so that the charged charges can be removed.

In conclusion, the invention can detect the static electricity on the surface of the inflammable matter in the conveying process of the inflammable matter, when the static electricity is detected, the static electricity generator is used for generating ion wind which enters the tuyere plate through the air pipe, and the static electricity is eliminated on the surface of the insulator of the inflammable matter in all directions under the action of the guide rail, so that the possibility of a strong electric field between the inflammable matter and the inflammable matter due to the static electricity is eliminated, the dangerous hidden danger caused by the static electricity accumulation generated by the insulator on the inflammable matter is avoided, and the safety of the transportation process is improved; on the other hand, malfunction of the system due to accumulated static electricity during transportation is avoided. And utilize this system to carry inflammables, can not produce static in not only the handling, can eliminate static moreover to can keep a charge balance state after eliminating static up to standard, thereby avoid producing the electrostatic field.

In addition, the probe 320 is a vibration potential sensor, and axial vibration is generated between electrodes of the vibration potential sensor under the action of a driving signal, so that an effective area between the vibration potential sensors generates a waveform with a sine or cosine law, thereby generating periodic capacitance change, and extracting a value at a certain moment, which is a potential difference (voltage value) of an electrostatic field. This charge generator can send the ion at the in-process of work, sends the back at the ion, can keep static at the minimum and carry the electric quantity, reaches a relative balanced state this moment, and this balanced state is for making the insulator surface of inflammables not taking charge, and then makes not produce the electrostatic field.

It should be noted that, firstly, the system utilizes the longitudinal moving mechanism 3 to adjust the height of the clamping plate 317 through the third cylinder 307 so as to adjust the clamped height to clamp the inflammable substance, thereby completing the linear movement in the Z-axis direction, and then the second cylinder 306 pushes the buffer block 305 under the action of the guide rod 302 and the linear bearing, and in the first direction (set as the X-axis direction), the system utilizes the first driving motor 202 to drive the first gear 204, thereby driving the second direction moving mechanism and the longitudinal moving mechanism to move in the X-axis direction. In the Y-axis direction, the system drives the longitudinal moving mechanism to complete the linear motion in the Y-axis direction by using the third driving motor 206 under the action of the gear and the rack, and when clamping the inflammable substance, the second driving motor 310 is used to drive the second gear 311 and the second rack 313, the clamping plate 317 is driven under the action of the third linear guide rail 316, the clamping plate 317 clamps the inflammable substance, and the carrying process can be completed by the movement in the three directions and the clamping movement until the inflammable substance is carried to a specified position or moved to a carrying point, so that the inflammable substance is carried out from the assembly line to a truck or other specified positions. In the process of carrying, the system starts the movable guide rail 318 on the adsorption plate 315, blows out ion wind on the surface of the inflammable substance through the air pipe, and neutralizes static electricity on the insulator material of the inflammable substance under the action of the movable guide rail 318 driving the air port plate.

The second aspect of the present invention provides a method for using a transfer robot system for combustibles, which is applied to any one of the transfer robot systems for combustibles, and comprises the following steps:

s102, acquiring a charge signal fed back by a probe;

s104, determining a potential signal according to the charge signal to obtain electrostatic potential information;

s106, comparing the potential information with preset potential information to obtain a deviation ratio;

s108, judging whether the deviation rate is smaller than a preset deviation rate threshold value or not;

s110, if the air quantity is smaller than the preset value, opening an air pipe, and starting a charge generator;

and S112, if not, the charge generator is not started.

It should be noted that, when the signal of the static electricity is generated, it can be understood that an electrostatic field is generated between the static electricity at this time, and the preset potential information can be understood as an electric field in which the potential difference tends to 0, and the electric field is detected by the probe due to the electric field generated between the positive charge and the negative charge between the static electricity. When an electric field is generated, the deviation ratio at this time can be understood as the value of the electric field actually generated. During detection, the sum of electric field values generated within a preset time is fluctuated by adopting a preset time, the average value of the electric field values (potential difference) generated within the preset time is taken as a reference, and the positive charge or the negative charge on the surface of the inflammable substance is neutralized by the ionic wind discharged from the air pipe.

Further, in a preferred embodiment of the present invention, the determining a potential signal according to the charge signal to obtain potential information specifically includes the following steps:

s202, acquiring a potential difference between the charge generator and a measured object;

s204, obtaining an initial voltage signal through the potential difference to obtain an initial voltage signal;

s206, amplifying the initial voltage signal and filtering useless signals in the voltage signal to obtain a secondary processing voltage signal;

and S208, carrying out phase-sensitive detection processing on the secondary processing signal to obtain electrostatic potential information.

It should be noted that, the secondary processing voltage satisfies the following relation:

wherein the content of the first and second substances,the voltage value of the static electricity is in volts; z is the capacitance between the probe and the measured object and has the unit of farad;the ground is taken as a potential point 0, and the potential difference of the average static electricity between the ground and the object to be measured is obtained; z is a radical of_kIs around the probeThe inductive capacitance of (2); i is a constant, and the value of the constant is a natural number e.

It should be noted that the secondary processing voltage signal is a voltage value of static electricity, and the static electricity on the surface of the object to be measured is attenuated according to an exponential law and a law that e is a constant, so that during measurement, the voltage average value in the time of detecting the static electricity is taken to obtain the average charge size of the static electricity of the object to be measured, and then the static electricity is obtained as positive charge or negative charge through the phase sensitive detector. Specifically, a periodic signal with a sine rule is generated by a charge generator to drive the vibrating capacitive potential sensor to vibrate periodically, so that a corresponding transformed current is generated in the sensor. The amplitude of the current is proportional to the potential of the charge carried by the object to be measured, and the phase of the current corresponds to the polarity of the charge. The current is converted into voltage through a resistor, the voltage is amplified and demodulated after frequency-selective amplification and a phase-sensitive detector, so that the electrostatic field voltage of the object to be measured is obtained, and the positive and negative of the measured voltage represent the electrostatic field voltage polarity of the object to be measured.

Further, in a preferred embodiment of the present invention, the electrostatic potential information includes a magnitude of a charge carried by the static electricity, and the charge carried by the static electricity is a positive charge or a negative charge.

In light of the foregoing description of the preferred embodiment of the present invention, it is to be understood that various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and the technology must be determined in accordance with the scope of the claims.