CN103612684B - A kind of three plane branch six-freedom parallel climbing robots - Google Patents
A kind of three plane branch six-freedom parallel climbing robots Download PDFInfo
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Abstract
一种三平面分支六自由度并联爬壁机器人，其主要包括动平台、激光枪、三个平面分支、复位机构和三个牵引腿，平面分支包括两个可伸缩的驱动腿，上端用横轴与动平台呈复合万向副联接，下端与永磁吸盘呈复合球副联接；牵引腿可刚性伸出、柔性缩回和摆动，上端与动平台球副联接，下端与永磁吸盘球副联接；复位机构通过横轴使平面分支复位；压弹簧使牵引腿复位，各腿与永磁吸盘协调运动，实现在磁性工件壁面爬行。吸附定位后，吸盘吸附力始终作用于动平台，爬壁机器人变成并联机器人，动平台带动激光枪可修复大型装备和工件缺陷。本发明具有结构简单、吸附能力强、运动灵活、控制简单、自重轻并且具有快速平动爬壁与大载荷六自由度灵活操作双重功能。
A three-plane branch six-degree-of-freedom parallel wall-climbing robot, which mainly includes a moving platform, a laser gun, three plane branches, a reset mechanism, and three traction legs. It is connected with the moving platform in a composite universal pair, and the lower end is connected with the permanent magnetic sucker in a composite ball pair; the traction leg can be rigidly extended, flexibly retracted and swung, the upper end is connected with the moving platform ball pair, and the lower end is connected with the permanent magnetic sucker ball pair ; The reset mechanism resets the plane branch through the horizontal axis; the pressing spring resets the traction legs, and each leg moves in coordination with the permanent magnet sucker to realize crawling on the wall of the magnetic workpiece. After adsorption and positioning, the suction force of the suction cup always acts on the moving platform, and the wall-climbing robot becomes a parallel robot. The moving platform drives the laser gun to repair large-scale equipment and workpiece defects. The invention has the advantages of simple structure, strong adsorption capacity, flexible movement, simple control, light weight and dual functions of fast translational wall climbing and large-load six-degree-of-freedom flexible operation.
Description
技术领域technical field
本发明涉及机器人，特别涉及一种具有爬壁功能的并联机器人。The invention relates to a robot, in particular to a parallel robot with the function of climbing walls.
背景技术Background technique
爬壁机器人是一种可以在垂直墙壁上攀爬完成超出人极限的自动化作业的机器人，近20年成为国内外机器人领域研究的热点和前沿。目前爬壁机器人已用于储油罐探伤检查、舰船喷漆、军事侦查、高楼消防、清洁和喷涂、核设备检查测厚等。A wall-climbing robot is a robot that can climb on a vertical wall to complete automated operations that exceed human limits. In the past 20 years, it has become a hot spot and frontier in the field of robotics research at home and abroad. At present, wall-climbing robots have been used for flaw detection and inspection of oil storage tanks, ship painting, military investigation, high-rise fire protection, cleaning and spraying, nuclear equipment inspection and thickness measurement, etc.
中国专利200710016408.8公开了一种铁基罐体爬壁机器人；中国专利CN1739925公开了一种非接触磁吸附轮式爬壁机器人；中国专利CN1428226公开了一种履带式多吸盘爬壁机器人的实现方法及所述方法的机器人；中国专利CN101181913公开了一种串联式模块化爬壁机器人；中国专利CN101537619公开了一种模块化可重构蠕虫式爬壁机器人；中国专利CN102343588A公开了一种磁盘吸附式爬壁机器人；中国专利02158876公开了一种五足爬壁机器人；中国专利CN101746429A公开了一种六足仿生湿吸爬壁机器人。Chinese patent 200710016408.8 discloses an iron-based tank wall-climbing robot; Chinese patent CN1739925 discloses a non-contact magnetic adsorption wheeled wall-climbing robot; Chinese patent CN1428226 discloses a crawler-type multi-suction cup wall-climbing robot. The robot of the method; Chinese patent CN101181913 discloses a serial modular wall-climbing robot; Chinese patent CN101537619 discloses a modular reconfigurable worm-type wall-climbing robot; Chinese patent CN102343588A discloses a disk adsorption type climbing robot Wall robot; Chinese patent 02158876 discloses a five-legged wall-climbing robot; Chinese patent CN101746429A discloses a hexapod bionic wet suction wall-climbing robot.
申请号为201310104113.1的变胞爬壁并联机器人虽然吸附能力强、结构简单、运动灵活度高，却有以下不足：1、自由度为三，不能保证快速平动爬壁；2、定位后动平台相对吸附工件加工与操作自由度也为三，灵活性还是较差，不能满足复杂运动要求；3、驱动腿弹性复位精度较低，影响定位加工操作精度；4、牵引腿结构较复杂，尚待改进。Although the metamorphic wall-climbing parallel robot with application number 201310104113.1 has strong adsorption capacity, simple structure, and high flexibility in movement, it has the following deficiencies: 1. Three degrees of freedom cannot guarantee fast translational wall-climbing; 2. Moving platform after positioning There are also three degrees of freedom in the processing and operation of relative adsorption workpieces, and the flexibility is still poor, which cannot meet the requirements of complex movements; 3. The elastic reset accuracy of the driving legs is low, which affects the accuracy of positioning and processing operations; Improve.
虽然上述爬壁类机器人各具特色，但用于极端条件下大型设备、装备及大工件表面缺陷现场修复和再制造一直是爬壁类机器人设计、研制和应用中面临的难题。特别是爬壁机器人应能快速平动爬壁，并满足动平台相对吸附工件的六自由度灵活加工与大载荷操作是尚待解决的关键问题。Although the above-mentioned wall-climbing robots have their own characteristics, the on-site repair and remanufacturing of surface defects of large-scale equipment, equipment and large workpieces under extreme conditions has always been a difficult problem in the design, development and application of wall-climbing robots. In particular, the wall-climbing robot should be able to quickly translate and climb the wall, and meet the six-degree-of-freedom flexible processing and large-load operation of the moving platform relative to the workpiece, which is the key problem to be solved.
发明内容：Invention content:
本发明目的在于提供一种用于极端条件下大型设备、装备及大工件表面缺陷现场修复和再制造，吸附能力强、结构简单、运动灵活、控制简单、自重轻并且具有平动爬壁与大载荷六自由度灵活操作双重功能的三平面分支六自由度并联爬壁机器人。The purpose of the present invention is to provide an on-site repair and remanufacturing of surface defects of large-scale equipment, equipment and large workpieces under extreme conditions, which has strong adsorption capacity, simple structure, flexible movement, simple control, light weight and has translational wall climbing and large A three-plane branch six-degree-of-freedom parallel wall-climbing robot with six degrees of freedom for flexible operation and dual functions.
本发明主要包括动平台、激光枪、复位机构、结构相同的三个平面分支和三个牵引腿，其中激光枪与动平台中心固连，三个平面分支与三个牵引腿在动平台与吸附的工件之间呈圆周交替均布。The invention mainly includes a moving platform, a laser gun, a reset mechanism, three planar branches and three traction legs with the same structure, wherein the laser gun is fixedly connected with the center of the moving platform, and the three plane branches and three traction legs are connected between the moving platform and the three traction legs. The workpieces are alternately and evenly distributed on the circumference.
所述三个结构相同的平面分支包括两个结构相同的由两节可伸缩杆构成的驱动腿，该两个驱动腿的上端分别通过转动副与横轴两端联接，该横轴两端开有相互平行且垂直横轴轴线的转动副孔，该横轴中间固连一个凸轮，该凸轮两侧通过转动副与动平台联接，上述两个驱动腿的下端通过复合球副与永磁吸盘A联接，在永磁吸盘A和复合球副之间设有吸盘复位弹簧A。The three planar branches with the same structure include two drive legs with the same structure, which are composed of two telescopic rods. There are rotating auxiliary holes parallel to each other and perpendicular to the axis of the horizontal axis. A cam is fixed in the middle of the horizontal axis. The two sides of the cam are connected to the moving platform through the rotating pair. To connect, a suction cup return spring A is arranged between the permanent magnetic suction cup A and the composite ball pair.
所述三个结构相同的三个牵引腿包括永磁吸盘B、吸盘复位弹簧B、拉弹簧、拉杆、丝母、套、丝杠、轴承、电动机B、压弹簧和球副，其中套是一端封闭、另一端为开口、外侧设有圆柱凸台的套筒，其封闭端通过球副与动平台联接，电动机B设在套的封闭端的套筒内，该电动机B的转轴朝向套的开口端，该转轴与丝杠的一端同轴相连，该丝杠靠近电动机B转轴的一端套有轴承，该轴承外环固定在套的内壁上；上述丝杠为一端开口、外壁带有螺纹的圆柱筒；丝母为两端开口、内壁带有螺纹的圆柱筒，该丝母大口径端与上述丝杠螺纹联接，该丝母外壁轴向设有凹槽，套的开口端设有键，该键置于上述丝母的凹槽内；压弹簧上端与动平台联接，下端与套的圆柱凸台联接，实现牵引腿复位；上述拉杆上端设有短粗圆柱，与上述丝杠下端的圆柱孔滑动配合，该拉杆中部为细长圆柱，与上述丝母小口径端圆柱通孔滑动配合，该拉杆下端设有圆柱凸台，该圆柱凸台与拉弹簧下端固连，该拉弹簧上端与套的圆柱凸台固连，上述拉杆下端与通过球副与永磁吸盘B联接，吸盘复位弹簧B置于拉杆下端与永磁吸盘B之间。吸附定位后，电动机B正转，带动丝杠转动并驱动丝母和拉杆沿其轴线向下移，实现牵引腿刚性伸长；待吸盘吸附工件，电动机B反转，驱动丝母沿其轴线向上移动，通过拉弹簧牵引拉杆，对动平台施加弹簧牵引力，确保增大吸附力。爬行时，动平台和丝母继续上移，迫使拉杆和永磁吸盘B脱离工件，同时拉杆上端圆柱插入丝母下端圆孔，利用圆柱与圆孔之间的空气阻尼避免吸盘脱离工件后拉弹簧导致的冲击，实现牵引腿柔性缩回。The three traction legs with the same structure include permanent magnet suction cup B, suction cup return spring B, tension spring, pull rod, screw nut, sleeve, lead screw, bearing, motor B, compression spring and ball pair, wherein the sleeve is one end The sleeve is closed, the other end is open, and the outside is provided with a cylindrical boss. The closed end is connected with the moving platform through a ball pair. The motor B is installed in the sleeve at the closed end of the sleeve. The rotating shaft of the motor B faces the open end of the sleeve. , the rotating shaft is coaxially connected with one end of the lead screw, and the end of the lead screw close to the motor B rotating shaft is covered with a bearing, and the outer ring of the bearing is fixed on the inner wall of the sleeve; the above-mentioned lead screw is a cylindrical tube with an open end and a threaded outer wall The screw nut is a cylindrical tube with openings at both ends and threads on the inner wall. The large-diameter end of the screw nut is threadedly connected with the above-mentioned screw. Placed in the groove of the above-mentioned screw nut; the upper end of the compression spring is connected with the moving platform, and the lower end is connected with the cylindrical boss of the sleeve to realize the reset of the traction leg; the upper end of the above-mentioned pull rod is provided with a short and thick cylinder, which slides with the cylindrical hole at the lower end of the above-mentioned screw Cooperate, the middle part of the pull rod is a slender cylinder, which slides and fits with the cylindrical through hole at the small-diameter end of the above-mentioned nut. The cylindrical boss is fixedly connected, the lower end of the above-mentioned pull rod is connected with the permanent magnetic chuck B through a ball pair, and the sucker return spring B is placed between the lower end of the pull rod and the permanent magnetic chuck B. After adsorption and positioning, the motor B rotates forward, drives the screw to rotate and drives the nut and the pull rod to move down along its axis to realize the rigid elongation of the traction leg; when the suction cup absorbs the workpiece, the motor B reverses and drives the nut to move upward along its axis Move, pull the spring to pull the pull rod, and apply spring traction to the moving platform to ensure that the adsorption force is increased. When crawling, the moving platform and the screw nut continue to move up, forcing the pull rod and the permanent magnet chuck B to separate from the workpiece. At the same time, the upper end cylinder of the pull rod is inserted into the round hole at the lower end of the screw nut, and the air damping between the cylinder and the round hole is used to prevent the sucker from detaching from the workpiece and then pull the spring The resulting impact enables flexible retraction of the traction leg.
所述的复位机构包括机架，压板，丝杠轴，电动机A，其中机架上、下端分别与电动机A和动平台中心固连，电动机A与丝杠轴同轴连接，压板为中间带有丝母的三角板，与丝杠轴构成螺旋副；定位前，电动机驱动丝杠使压板下移，压向横轴的凸轮，迫使三个平面分支同时复位，由于复位是刚性的，复位精度高；三个平面分支的永磁吸盘吸附定位后，电动机驱动丝杠使压板上移，脱离三个横轴的凸轮，使系统成为六自由度并联机器人。The reset mechanism includes a frame, a pressing plate, a screw shaft, and a motor A, wherein the upper and lower ends of the frame are fixedly connected with the motor A and the center of the moving platform respectively, the motor A is coaxially connected with the screw shaft, and the pressing plate is in the middle with a The triangular plate of the screw nut forms a screw pair with the screw shaft; before positioning, the motor drives the screw to move the pressure plate down and press against the cam on the horizontal axis, forcing the three plane branches to reset at the same time. Since the reset is rigid, the reset accuracy is high; After the permanent magnetic chucks of the three planar branches are adsorbed and positioned, the motor drives the lead screw to move the pressure plate away from the cams on the three horizontal axes, making the system a six-degree-of-freedom parallel robot.
本发明的爬壁过程：六个吸盘都吸附工件后，三个平面分支驱动腿伸长，牵引腿缩回，带动其三个吸盘脱离工件；三个平面分支驱动腿伸长不同，使动平台及牵引腿相对工件向预定方向平移；所有牵引腿伸长，带动其三个吸盘吸附工件后，三个平面分支逐个缩回带动其吸盘脱离工件，复位机构迫使三个平面分支复位；压弹簧迫使所有相同伸长的牵引腿相对动台复位，三个平面分支再伸长，驱动腿吸盘吸附工件新点位，实现迈步。重复上述过程，可以实现该机器人沿工件壁面任意方向平动爬行。The wall-climbing process of the present invention: after the six suction cups absorb the workpiece, the driving legs of the three plane branches are extended, and the traction legs are retracted, driving the three suction cups to separate from the workpiece; the driving legs of the three plane branches elongate differently, so that the moving platform And the traction legs move relative to the workpiece in a predetermined direction; all the traction legs are extended to drive their three suction cups to absorb the workpiece, and the three plane branches retract one by one to drive their suction cups away from the workpiece, and the reset mechanism forces the three plane branches to reset; the pressure spring forces All the traction legs with the same elongation are reset relative to the moving table, and the three plane branches are extended again, and the suction cups of the driving legs absorb the new point of the workpiece to realize the stepping. By repeating the above process, the robot can realize translational crawling along any direction of the workpiece wall.
本发明的定位操作过程：牵引腿电动机正转，通过螺旋传动实现该腿刚性伸长和吸附工件；复位机构迫使三个平面分支复位和吸附工件;牵引腿电动机反转，驱动丝母沿其轴线向上移，拉弹簧牵引拉杆，实现该腿柔性缩回，将吸盘吸附力传给动平台。该机器人变成三平面分支六自由度并联机器人，实现六自由度定点操作加工。The positioning operation process of the present invention: the traction leg motor rotates forward, and the rigid elongation of the leg and the adsorption of the workpiece are realized through the screw drive; the reset mechanism forces the three plane branches to reset and absorb the workpiece; the traction leg motor reverses and drives the nut along its axis Move up, pull the spring to pull the pull rod, realize the flexible retraction of the leg, and transmit the suction force of the suction cup to the moving platform. The robot becomes a three-plane branch six-degree-of-freedom parallel robot to realize six-degree-of-freedom fixed-point operation and processing.
本发明与现有技术相比具有如下优点：结构简单、吸附能力强、运动灵活、控制简单、自重轻并且具有快速平动爬壁与大载荷六自由度灵活操作双重功能，可以完成极端条件下对太空站、核/水电站、采矿/冶金/装卸设备、采/输/储油气设备、大型舰船/飞机等大型设备、装备及大工件表面缺陷现场修复和再制造，探伤检查、除锈、喷漆及军事侦查等任务。Compared with the prior art, the present invention has the following advantages: simple structure, strong adsorption capacity, flexible movement, simple control, light weight and has dual functions of fast translational wall climbing and flexible operation with six degrees of freedom under large loads, and can be used under extreme conditions. On-site repair and remanufacturing of large-scale equipment, equipment, and large workpiece surface defects such as space stations, nuclear/hydropower plants, mining/metallurgy/handling equipment, mining/transportation/storage equipment, large ships/aircraft, flaw detection, rust removal, Painting and military reconnaissance and other tasks.
附图说明Description of drawings
图1是本发明没有复位机构的立体示意简图。Fig. 1 is a schematic perspective view of the present invention without a reset mechanism.
图2是本发明的平面分支结构示意简图。Fig. 2 is a schematic diagram of the planar branch structure of the present invention.
图3是本发明的主视剖面示意简图。Fig. 3 is a schematic diagram of a front sectional view of the present invention.
图中：1-平面分支，2-牵引腿，3-磁性工件，4-激光枪，5-动平台，6复位机构；1-1永磁吸盘A，1-2吸盘复位弹簧A，1-3复合球副，1-4伸缩腿，1-5转动副，1-6横轴；2-1永磁吸盘B，2-2吸盘复位弹簧B，2-3拉弹簧，2-4拉杆，2-5丝母，2-6套，2-7丝杠，2-8轴承，2-9电动机B，2-10压弹簧，2-11球副；6-1压板，6-2丝杠轴，6-3机架,6-4电动机AIn the figure: 1-plane branch, 2-traction leg, 3-magnetic workpiece, 4-laser gun, 5-moving platform, 6 reset mechanism; 1-1 permanent magnetic sucker A, 1-2 sucker return spring A, 1- 3 compound ball pair, 1-4 telescopic leg, 1-5 rotating pair, 1-6 horizontal axis; 2-1 permanent magnetic sucker B, 2-2 sucker return spring B, 2-3 pull spring, 2-4 pull rod, 2-5 nut, 2-6 sets, 2-7 lead screw, 2-8 bearing, 2-9 motor B, 2-10 pressure spring, 2-11 ball pair; 6-1 pressure plate, 6-2 lead screw Shaft, 6-3 Rack, 6-4 Motor A
具体实施方式Detailed ways
在图1和图3所示的三平面分支六自由度并联爬壁机器人的示意图中，激光枪4与动平台5中心固连，结构相同的三个平面分支1与三个牵引腿在动平台与磁性工件3之间呈圆周交替均布。如图2所示，三个结构相同的平面分支包括两个结构相同的由两节可伸缩杆构成的驱动腿1-4，该两个驱动腿的上端分别通过转动副1-5与横轴1-6两端联接，该横轴两端开有相互平行且垂直横轴轴线的转动副孔，该横轴中间固连一个凸轮，该凸轮两侧通过转动副与动平台联接，上述两个驱动腿的下端通过复合球副1-3与永磁吸盘1-1联接，在永磁吸盘和复合球副之间设有吸盘复位弹簧1-2。三个结构相同的三个牵引腿2中的套2-6是一端封闭、另一端为开口、外侧设有圆柱凸台的套筒，其封闭端通过球副2-11与动平台联接，电动机B2-9设在套的封闭端的套筒内，该电动机B的转轴朝向套的开口端，该转轴与丝杠2-7的一端同轴相连，该丝杠靠近电动机B转轴的一端套有轴承2-8，该轴承外环固定在套的内壁上；上述丝杠为一端开口、外壁带有螺纹的圆柱筒；丝母2-5为两端开口、内壁带有螺纹的圆柱筒，该丝母大口径端与上述丝杠螺纹联接，该丝母外壁轴向设有凹槽，套的开口端设有键，该键置于上述丝母的凹槽内；压弹簧2-10上端与动平台联接，下端与套的圆柱凸台联接，实现牵引腿复位；拉杆2-4上端设有短粗圆柱，与上述丝杠下端的圆柱孔滑动配合，该拉杆中部为细长圆柱，与上述丝母小口径端圆柱通孔滑动配合，该拉杆下端设有圆柱凸台，该圆柱凸台与拉弹簧2-3下端固连，该拉弹簧上端与套的圆柱凸台固连，上述拉杆下端与通过球副与永磁吸盘B2-1联接，吸盘复位弹簧B2-2置于拉杆下端与永磁吸盘B之间。复位机构6中的机架6-3上、下端分别与电动机A6-4和动平台中心固连，电动机A与丝杠轴6-2同轴连接，压板6-1为中间带有丝母的三角板，与丝杠轴构成螺旋副；定位前，电动机驱动丝杠使压板下移，压向横轴的凸轮，迫使三个平面分支同时刚性复位；三个平面分支的永磁吸盘吸附定位后，电动机驱动丝杠使压板上移，脱离三个横轴的凸轮，使系统成为六自由度并联机器人。In the schematic diagram of the three-plane branch six-degree-of-freedom parallel wall-climbing robot shown in Figure 1 and Figure 3, the laser gun 4 is fixedly connected to the center of the moving platform 5, and the three plane branches 1 with the same structure and the three traction legs are on the moving platform. It is alternately and evenly distributed with the magnetic workpiece 3 on the circumference. As shown in Figure 2, the three planar branches with the same structure include two driving legs 1-4 with the same structure consisting of two telescopic rods. The two ends of 1-6 are connected, and the two ends of the horizontal shaft are provided with rotating auxiliary holes that are parallel to each other and perpendicular to the axis of the horizontal axis. A cam is fixed in the middle of the horizontal shaft. The lower end of the driving leg is connected with the permanent magnet sucker 1-1 through the compound ball pair 1-3, and a sucker return spring 1-2 is arranged between the permanent magnet sucker and the compound ball pair. The sleeves 2-6 in the three traction legs 2 with the same structure are sleeves with one end closed, the other end open, and a cylindrical boss on the outside. The closed end is connected to the moving platform through the ball pair 2-11, and the motor B2-9 is located in the sleeve of the closed end of the sleeve. The rotating shaft of the motor B is facing the opening end of the sleeve. The rotating shaft is coaxially connected with one end of the screw 2-7. The end of the screw near the rotating shaft of the motor B is covered with a bearing. 2-8, the outer ring of the bearing is fixed on the inner wall of the sleeve; the above-mentioned screw is a cylindrical tube with one end open and a thread on the outer wall; the screw nut 2-5 is a cylindrical tube with two ends open and a thread on the inner wall. The large-diameter end of the nut is threadedly connected with the above-mentioned screw, the outer wall of the nut is axially provided with a groove, and the opening end of the sleeve is provided with a key, and the key is placed in the groove of the above-mentioned nut; the upper end of the pressure spring 2-10 is connected with the moving The platform is connected, and the lower end is connected with the cylindrical boss of the sleeve to realize the reset of the traction leg; the upper end of the pull rod 2-4 is provided with a short and thick cylinder, which is slidably matched with the cylindrical hole at the lower end of the above-mentioned screw. The cylindrical through hole at the female small-diameter end is slidingly fitted, and the lower end of the pull rod is provided with a cylindrical boss, which is fixedly connected with the lower end of the tension spring 2-3, and the upper end of the tension spring is fixedly connected with the cylindrical boss of the sleeve. The ball pair is connected with the permanent magnetic suction cup B2-1, and the suction cup return spring B2-2 is placed between the lower end of the pull rod and the permanent magnetic suction cup B. The upper and lower ends of the frame 6-3 in the reset mechanism 6 are fixedly connected with the motor A6-4 and the center of the moving platform respectively, the motor A is coaxially connected with the screw shaft 6-2, and the pressing plate 6-1 is a screw nut in the middle. The triangular plate forms a screw pair with the lead screw shaft; before positioning, the motor drives the lead screw to move the pressure plate down and press against the cam on the horizontal axis, forcing the three plane branches to reset rigidly at the same time; after the permanent magnetic chuck of the three plane branches is adsorbed and positioned, The electric motor drives the lead screw to move the pressure plate and separate from the cams on the three horizontal axes, making the system a six-degree-of-freedom parallel robot.
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| CN106239546B (en) * | 2015-11-30 | 2018-09-14 | 华南理工大学 | A kind of sucker manipulator of climbing robot |
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| CN111674531B (en) * | 2020-06-01 | 2022-02-11 | 哈尔滨工程大学 | Bionic machine crab single motor control two crab leg motion structure |
| CN111678660B (en) * | 2020-06-22 | 2022-03-29 | 南通科达建材科技股份有限公司 | Floor joint close inspection device for assembly type building |
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