CN100386181C

CN100386181C - Detection robot

Info

Publication number: CN100386181C
Application number: CNB2005100189334A
Authority: CN
Inventors: 石端伟; 潘卫平; 雷开运; 邹旭
Original assignee: Wuhan University WHU
Current assignee: Wuhan University WHU
Priority date: 2005-06-16
Filing date: 2005-06-16
Publication date: 2008-05-07
Anticipated expiration: 2025-06-16
Also published as: CN1695906A

Abstract

The present invention relates to a detection robot which is provided with a walking carriage and a walking wheel. The present invention is characterized in that both ends of the bogie are respectively provided with a lighting fixture and a camera with 2 freedom degrees, and 2 motors are respectively connected with the walking wheel through an actuating mechanism. The present invention has the advantages that because the 2 motors are used to be respectively connected with a walking wheel through an actuating mechanism, the trolley can be instructed by the robot to freely realize walk, retreat, left turning, right turning and situ turning, and the climbing capacity of the trolley is not less than 45 DEG. Therefore, two axle or triple axle bilateral synchronous drive is realized, and the synchronous drive not only has large driving force but also is convenient for facility turning, and the present invention is suitable for working in a specific environment such as a narrow space, etc. The present invention also has the advantages of small volume, light weight, compact integral structure and high reliability, and can walk in a passage of which the length is not less than 130mm. Besides, the weight of the trolley is not heavier than 8kg.

Description

Detection machine people

Technical field

The present invention relates to a kind of detection machine people, the fault detect and the foreign matter that are mainly used in nuclear power station take out.

Background technology

Often relate to thin space passage, pipeline, valve cavity, steam generator water pipe or tracheae at nuclear power station and relevant industries thereof, also has important safety means inner chamber, reactor pressure vessel has radioactivity, danger and other detection means and can not implement the cavity volume that cctv (having video to show) detects.At present, the instrument and equipment of implementing the cctv detection generally all adopts manipulator, just the Zhuan Zhi manipulator that has the cctv detection head puts in the tested cavity volume and carries out operation, and to difform cavity volume, when especially cavity volume is complex-shaped, because existing robots is difficult to turning or tune or climb very steep slopes in the thin space passage, easily there is the dead angle area that does not detect and influenced practical application.

Summary of the invention

The object of the present invention is to provide a kind of detection machine people, it can detect operation in complex-shaped or narrow passage or cavity volume.

The technical scheme that realizes the object of the invention is: a kind of detection machine people, have walking dolly and road wheel, it is characterized in that: two ends of dolly are respectively equipped with lighting and 2DOF camera, 2 motors one, two link through transmission mechanism and road wheel respectively, above-mentioned 2 motors one, two are meshed through the gear of reducer output shaft gear with dolly one end 2 live axle inboards respectively, described road wheel has 6, each 3 on every limit, 2 road wheels of one end link with the middle road wheel of band transmission and corresponding sides respectively, road wheel links with 2 road wheels of the band transmission and the other end respectively again in the middle of 2, camera is in bolster is hinged on support, motor three links through decelerator and with band transmission and described bolster, and another motor four is meshed with the shaft gear of support shaft through the reducer output shaft gear again.

And the road wheel in the middle of being positioned at is less than the road wheel at two ends.

And dolly is provided with manipulator.

And, described manipulator has 4 frees degree, this manipulator comprises big arm; forearm and make the jaw device of execution unit; an end and a vertical shaft of big arm link; the motor that drives big revolution of arm is meshed with the gear of vertical shaft through the reducer output shaft gear; driving wrist motor rotating links through reducer output shaft and by gear and drive link and wrist; forearm is hinged by connecting plate and wrist; the motor that the driving forearm is done elevating movement is connected with screw mandrel through the output shaft of decelerator; screw mandrel passes wrist; bearing is housed therebetween; the coupling bar that is connected with this wire rod thread is plugged in the elongate slots of connecting plate; the motor of forearm is also connecting a screw mandrel through decelerator, and this screw mandrel is threaded with slide block, and this slide block is connected with the drive end of shear-type clamp clamp device respectively by 2 connecting rods.

And the bearing of live axle is the self sealss bearing, and wheel shaft is provided with the combined sealing structure that is made of O RunddichtringO and magnetic current clearance sealing device outward.

Advantage of the present invention is: 1. owing to adopt 2 motors to link through transmission mechanism and road wheel respectively, this robot can instruct motor simultaneously in the same way or reverse rotation, the perhaps reciprocal rotation of two motors or one of them motor stall and can walk flexibly, can realize advancing free to advance or retreatly, retreat, about turn to and pivot stud, its climbing capacity is not less than 45 degree.2. two or three bilateral driven in synchronism that constitute had therefrom both had bigger driving force, were convenient to again turn to flexibly, suited to work in particular surroundings such as narrow space.3. volume is little, in light weight, can walk in being not less than the passage of 130mm, and car body weight is not more than 8kg.4. compact overall structure, the reliability height.

Description of drawings

Fig. 1 illustrates the stereogram of appearance structure of the present invention on the whole.

Fig. 2 is the whole cutaway view that constitutes of signal.

Fig. 3 is the amplification view along Fig. 2 A-A place.

Fig. 4 is the amplification view of the big arm of manipulator.

Fig. 5 is the amplification view of manipulator forearm.

Fig. 6 is the amplification view of wheel axle sealing structure.

Fig. 7 is the amplification view at Fig. 2 B place.

The specific embodiment

With reference to Fig. 1～Fig. 7, detection machine people of the present invention, it has walking dolly 12 and road wheel 11, its distinctive feature is: two ends of dolly 12 are respectively equipped with

lighting

2,2 ', 10 and

2DOF camera

8,2 motors one, 2 43 link through transmission mechanism and road wheel 11 respectively, above-mentioned 2 motors one, 2 43 are meshed through the gear 47 of decelerator 44 output shaft gears 48 with dolly 12 1 ends 2 live axles 50 inboards respectively, described road wheel 11 has 6, each 3 on every limit, 2 road wheels 11 of one end link with the middle road wheel 11 of band transmission 46 with corresponding sides respectively, road wheel 11 links with 2 road wheels 11 of band transmission 45 with the other end respectively again in the middle of 2, camera 8 is in bolster 33 is hinged on support 9, motor 3 35 links with described bolster 33 through decelerator 36 and with band transmission 34, and another motor 4 39 is meshed with the shaft gear 38 of support shaft through decelerator 40 output shaft gears 37 again.

Suggestion: rubber rectangular teeth structures are adopted in the outer ring 49 of each road wheel 11, to strengthen its frictional force and the ability by obstacle.

And the road wheel 11 in the middle of being positioned at is less than the road wheel 11 at two ends.

Transmission preferably is with in described

band transmission

34,45,46 synchronously.

Remove to implement detect and to do out of tradely,, can also set up manipulator on the dolly 12 if when also needing to take out foreign matter simultaneously from the scene.

And; Described manipulator has 4 frees degree and (sees Fig. 2; Fig. 4; Fig. 5); This manipulator comprises big arm 1; Forearm 6 and the jaw device 7 of making execution unit; One end and a vertical shaft 16 of big arm 1 link; Driving big arm 1 rotating motor 13 is meshed with the gear 17 of vertical shaft 16 through decelerator 14 output shaft gears 15; Drive the motor 18 of wrist 4 rotations through decelerator 19 output shafts and by gear 20; 22 and drive link 21 link with wrist 4; Forearm 6 is hinged by connecting plate 5 and wrist 4; The motor 24 that driving forearm 6 is done elevating movement is connected with screw mandrel 26 through the output shaft of decelerator 25; Screw mandrel 26 passes wrist 4; Bearing 54 (see figure 4)s are housed therebetween; The coupling bar 3 that is threaded with this screw mandrel 26 is plugged in the elongate slots 23 of connecting plate 5; The motor 27 of forearm 6 is also connecting a screw mandrel 29 through decelerator 28; This screw mandrel 29 is threaded with slide block 30, and this slide block 30 is connected with the drive end 32 of shear-type clamp clamp device 7 respectively by 2 connecting rods 31.

The front end of described jaw device folder thing part can also be made the given shape of being convenient to press from both sides thing, for example tubulose etc.

During work, 1. the motor 13 of big arm 1 is meshed with vertical shaft gear 17 through decelerator 14 output shaft gears 15, and can drive big arm 1 around vertical shaft 16 rotations; 2. motor 18 drives wrist 4 and is being with forearm 6 together around big arm 1 axis rotation through decelerator 19,

gear

20,22 and drive link 21; 3. motor 24 drives coupling bar 3 through decelerator 25, screw mandrel 26 and does straight reciprocating motion along screw mandrel 26, meanwhile also be plugged in the elongate slots 23 of connecting plate 5 owing to this coupling bar 3, so just the straight reciprocating motion with coupling bar 3 is converted to the elevating movement of forearm 6 around pin joint; 4. the motor 27 of forearm 6 is done straight reciprocating motion through decelerator 28 and screw mandrel 29 driving slide blocks 30, and this slide block 30 drives the action that jaw device 7 realize clamping or decontroling foreign matter by connecting rod 31.More than motion can independently be carried out also teamwork simultaneously respectively and finish and get thing.Promptly this manipulator can realize grasping, rotation (big arm around vertical shaft or forearm around big arm axle line), pitching motions such as (forearm are around pin joint), its jaw device 7 can be picked up foreign matter in tested cavity volume.

For the ease of underwater operation, described live axle 50,50 ' bearing 51 are self sealss bearing (standard component), and wheel shaft is provided with the combined sealing structure (see figure 6) that is made of O RunddichtringO 52 and magnetic current clearance sealing device 53 (its structure and principle can be consulted " mechanical engineering manual ") outward.Meanwhile, if be used for the detection of nuclear power station, each rubber ring, pad should be able to anti-nuclear radiation, for example, can adopt the phenyl room temperature vulcanized silicone rubber, each attachment screw, bolt, nut and connect the composition surface and should smear waterproof radiation hardness fluid sealant.This robot can be at≤underwater operation that 30m is dark.

In addition, described

motor

13,18,24,27,35,39 can be selected servomotor, decelerator is preferably the planetary reduction gear than the big retarding ratio, because motor and decelerator can be commercially available standard components, specifically can and consult " mechanical engineering manual " coupling according to actual condition.

Car body walking and camera 8 actions can be taked to jointly control.Manipulator adopts control separately.The bus of The whole control realizes Long-distance Control by cable.Control device 41 can be located at the middle part of car body, and circuit interface 42 is positioned at its both sides.

Claims

1. detection machine people, have walking dolly and road wheel, it is characterized in that: two ends of dolly are respectively equipped with lighting and 2DOF camera, 2 motors one, two link through transmission mechanism and road wheel respectively, above-mentioned 2 motors one, two are meshed through the gear of reducer output shaft gear with dolly one end 2 live axle inboards respectively, described road wheel has 6, each 3 on every limit, 2 road wheels of one end link with the middle road wheel of band transmission and corresponding sides respectively, road wheel links with 2 road wheels of the band transmission and the other end respectively again in the middle of 2, camera is in bolster is hinged on support, motor three links through decelerator and with band transmission and described bolster, and another motor four is meshed with the shaft gear of support shaft through the reducer output shaft gear again.

2. detection machine people according to claim 1 is characterized in that: the road wheel in the middle of being positioned at is less than the road wheel at two ends.

3. detection machine people according to claim 1 and 2, it is characterized in that: dolly is provided with manipulator.

4. detection machine people according to claim 3, it is characterized in that: described manipulator has 4 frees degree, this manipulator comprises big arm; forearm and make the jaw device of execution unit; an end and a vertical shaft of big arm link; the motor that drives big revolution of arm is meshed with the gear of vertical shaft through the reducer output shaft gear; driving wrist motor rotating links through reducer output shaft and by gear and drive link and wrist; forearm is hinged by connecting plate and wrist; the motor that the driving forearm is done elevating movement is connected with screw mandrel through the output shaft of decelerator; screw mandrel passes wrist; bearing is housed therebetween; the coupling bar that is connected with this wire rod thread is plugged in the elongate slots of connecting plate; the motor of forearm is also connecting a screw mandrel through decelerator; this screw mandrel is threaded with slide block, and this slide block is connected with the drive end of shear-type clamp clamp device respectively by 2 connecting rods.

5. detection machine people according to claim 4 is characterized in that: the bearing of live axle is the self sealss bearing, and wheel shaft is provided with the combined sealing structure that is made of O RunddichtringO and magnetic current clearance sealing device outward.