CN105292288A - Swing crossing type robotic arm and obstacle crossing method of aerial cable patrolled robot - Google Patents
Swing crossing type robotic arm and obstacle crossing method of aerial cable patrolled robot Download PDFInfo
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- CN105292288A CN105292288A CN201510650556.XA CN201510650556A CN105292288A CN 105292288 A CN105292288 A CN 105292288A CN 201510650556 A CN201510650556 A CN 201510650556A CN 105292288 A CN105292288 A CN 105292288A
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Abstract
The invention relates to a swing crossing type robotic arm and an obstacle crossing method of an aerial cable patrolled robot. The aerial cable patrolled robot comprises a body and a control system. The body at least comprises a machine body, a pair of travelling mechanisms and a pair of robotic arms. Each travelling mechanism comprises a pair of travelling wheels, and is located above the robotic arm on the corresponding side, and the middle of each travelling mechanism is connected with finger joints of the robotic arm on the corresponding side. The robotic arms are installed on the two end sides of the machine body respectively. Each robotic arm at least comprises a pair of finger joints, a wrist joint, an elbow arm with an elbow joint, and a shoulder joint, wherein the shoulder joints are arranged at the ends of the machine body. A horizontal rotating joint is further arranged between the finger joints and the wrist joint of each robotic arm, a flexible cable is connected between the wrist joint of each robotic arm and the two ends of the machine body, and can slide towards the two sides by using a fixed pulley on the corresponding wrist joint so that the lengths and the tension of the cable portions on the two sides can be adjusted. The aerial cable patrolled robot can cross long obstacles, and is high in stability and rapid.
Description
Technical field
The invention belongs to robotics, particularly relate to and a kind ofly swing more formula robotic arm and obstacle-detouring method for aerial cable inspection robot.
Background technology
Aerial cable needs long-term maintenance and maintenance, and manual maintenance labour intensity is large, working environment is dangerous and inefficiency.If adopt robot to patrol and examine operation to aerial cables, manual inspection labour intensity can be alleviated, increase work efficiency, reduce the deficiencies such as artificial injury, good market outlook will be had.Therefore, China responsible institution pays much attention to crusing robot research, and domestic a lot of R&D institution is proposed many moneys crusing robot successively in 863 Program, and in power department acquisition support to a certain degree.Abroad this is also taken much count of, as Tokyo Electric Power started to develop optical fiber composite overhead cable inspection robot the end of the eighties in last century.But, with regard to the robot released at present, not only can not practical requirement but also easily new threat is caused to power worker in across obstacle length, stability and quick degree etc.Therefore, the barrier getting over mechanism studying novel cable inspection robot becomes very urgent.
By By consulting literatures [1], document [2] and document [3], the maximum spanning length of existing cable inspection robot: the length being robotic arm+half robot body, if run into the obstacle being greater than this length, robot cannot work.In stability: robot is that robotic arm bears a heavy burden, and adjusts balance position to adjust centre of body weight by Rolling motor etc., once be subject to external force (blowing), just easily there is imbalance, overshoot, topple over and the phenomenon such as rollover.Quick degree aspect: when robot wants across obstacle, a robotic arm bears a heavy burden, and after another robotic arm must wait until that robot gravity balance has been got well, just can carry out off-line and work of making contact, delay a large amount of time; Especially robot when crossing over larger obstacle, all first to carry out centroid adjustment and keep one's balance, then carry out leap action, can not leaping over obstacles fast, the deficiency of mechanism design aspect, limits the principal element that such robot moves towards application market.
Above-mentioned bibliography:
[1] Fang Lijin, Wei Yongle, Tao Guanghong.Double-arm crusing robot design [J] of a kind of Novel belt flexible cable. robot 2013,35 (3): 319-325
[2] Wu Gongping, Xiao Xiaohui, Xiao Hua, etc. aerial high-voltage power transmission line inspection robot prototype design [J]. Automation of Electric Systems, 2006,30 (13): 90-93.
[3] Zhu Xinglong, Zhou Jiping, Wang Hongguang, etc. power transmission line crusing robot obstacle detouring mechanism and test [J]. mechanical engineering journal, 2009,45 (2): 119-125.
Summary of the invention
The object of this invention is to provide the longer and stability of a kind of across obstacle length strong and efficiently aerial cable inspection robot swing more formula robotic arm.
For achieving the above object, the present invention takes following design plan:
Formula robotic arm is got in swinging of a kind of aerial cable inspection robot, this aerial cable inspection robot is made up of body and control system, described body at least includes a body, a pair traveling gear, a pair articulations digitorum manus group and a pair robotic arm, is connected on the robotic arm that each traveling gear is positioned at respective side with the articulations digitorum manus group of this respective side;
A pair described robotic arm is arranged on the two ends of body respectively, and include one in each robotic arm and horizontally rotate joint, a wrist joint, with the elbow arm of elbow joint and a shoulder joint, wherein, described shoulder joint is located at the end points place of body;
Flexible cable is connected with between the wrist joint of described each robotic arm and body two-end-point.
Swinging of described aerial cable inspection robot is got in formula robotic arm, is provided with a fixed pulley, is provided with two Rolling motors at described each shoulder joint place at described each wrist joint place; The flexible cable be connected with between the wrist joint of described each robotic arm and body two-end-point is the rope of whole, and this rope one end is fixedly around on the Rolling motor at body one end points shoulder joint place, centre is walked around via the fixed pulley at wrist joint place, and the other end is fixedly around on the Rolling motor at another end points shoulder joint place of body.
Swinging of described aerial cable inspection robot is got in formula robotic arm, and the described rope walked around via wrist joint place fixed pulley is at least be wound around a circle on fixed pulley.
Swinging of described aerial cable inspection robot is got in formula robotic arm, further, at least includes a road wheel in described traveling gear; Described each articulations digitorum manus group is made up of the articulations digitorum manus that two are symmetrically distributed in road wheel both sides, includes a screw shaft, make contact motor and one hold line motor in each articulations digitorum manus; Described motor of making contact is fixed on traveling gear; One end of described screw shaft is fixed on makes contact on the output revolving shaft of motor, realizes and the making contact and off-line of cable with the Double-directional rotary with motor of making contact; And the termination of this side of screw shaft is fixedly connected with the output revolving shaft holding line motor of suspension, to realize the rotation of screw shaft with the rotation of holding line motor.
Swinging of described aerial cable inspection robot is got in formula robotic arm, and further, described articulations digitorum manus group and the traveling gear be connected can be the off-line devices of making contact being integrated into a combined type, and this off-line utensil of making contact has:
The frame of one " U " formula;
The top of this frame side vertical frame connects traveling gear by a moving fulcrum, and this traveling gear has a framework, this framework is arranged with road wheel and transmission turbine; Be installed on a sensitive bar on the top of this side vertical frame, trigger mechanism that the drive link and of a circular arc can touch traveling gear action; One end of described sensitive bar is flexibly connected with the fulcrum in this frame vertical frame and around this fulcrum; Described drive link is connected with the vertical frame of this side by a moving fulcrum, and one end of this drive link is against the lower end of sensitive bar, and the other end can touch trigger mechanism when rotation, between the vertical frame of the middle part of this drive link and this frame of frame, be connected with retracing spring; The top of this side vertical frame is provided with the limiting card for limiting traveling gear;
At the top of this frame opposite side vertical frame, movable motor, speed reduction gearing and output turbine are installed from the bottom to top successively, described movable motor is connected with output turbine by speed reduction gearing, also installs the buckle release of a top with bayonet socket at the top of this side vertical frame simultaneously;
When the framework of described frame side is engaged by the buckle release top bayonet socket in opposite side vertical frame, described transmission turbine and the mutual toe joint of output turbine.
A) swinging of described aerial cable inspection robot is got in formula robotic arm, and further, described trigger mechanism includes the snap close of a lockable traveling gear, and this snap close is implemented to loosen, implement tension by back-moving spring by frizzen; The framework of traveling gear is installed a drive block, and the frizzen when position that this drive block is installed makes it to be triggered props up and drives the framework of traveling gear descending together downwards.
B) swinging of described aerial cable inspection robot is got in formula robotic arm, further, described buckle release comprises assistant support corresponding to a pair main vertical pole and a pair position, the top of each main vertical pole, with dop, forms the bayonet socket on buckle release top between the dop at this main vertical pole top and the top of assistant support; Between each main vertical pole and the assistant support corresponding with it, be connected with support spring, main vertical pole is provided with a buckle release fulcrum; This buckle release is also equipped with an off-line motor and an eccentric cam, and described eccentric cam is set on the output shaft of off-line motor, and the rotation of this eccentric cam can promote buckle release and rotate counterclockwise with the main vertical pole of dop.
Another object of the present invention is to provide a kind of obstacle-detouring method of aerial cable inspection robot, and this aerial cable inspection robot has aforesaid swinging and gets over formula robotic arm, when running into obstacle, can adopt sideswinging type or swinging more formula obstacle detouring, wherein,
Described sideswinging type obstacle-detouring method is as follows:
C) first this aerial cable inspection robot run into obstacle stop move ahead;
D) Rolling motor at two robotic arm shoulder joint places rotates respectively, and before robot, the elbow arm of robotic arm bends, and the barycenter of robot moves;
E) robotic arm off-line afterwards; The horizontal rotation joint of front robotic arm leans to one side to rotate, the rear robotic arm of off-line is driven to rotate leap forward centered by it, when the end road wheel arrival of traveling gear on rear robotic arm has striden across below the cable of obstacle, this rear robotic arm articulations digitorum manus has stretched out, and completes action of making contact;
F) thereupon, front robotic arm off-line; The joint that horizontally rotates of rear robotic arm leans to one side to rotate, the front robotic arm of off-line is driven again to rotate leap forward centered by it, when the end road wheel arrival of the traveling gear of current machine arm has striden across below the cable of obstacle, this front robotic arm articulations digitorum manus has stretched out action of making contact;
G) aerial cable inspection robot reduction initial condition, completes obstacle detouring process;
Described swing more that formula obstacle-detouring method is as follows:
H) first this aerial cable inspection robot run into obstacle stop move ahead;
I) after aerial cable inspection robot, the elbow arm of robotic arm bends, and the elbow arm of front robotic arm is unfolded gradually straight, and the barycenter of robot upwards, is backward moved;
J) robotic arm off-line after aerial cable inspection robot, then the joint that horizontally rotates of front robotic arm rotates, before rear robotic arm on robotic arm the front end road wheel of traveling gear be the center of circle forward 180 degree rotates and does to swing to get over and move, until when on rear robotic arm, the end road wheel across obstacle of traveling gear arrives the height of cable, its articulations digitorum manus stretches out and completes action of making contact;
K) now, the joint that horizontally rotates of rear robotic arm rotates, and front robotic arm off-line also leans to one side to rotate, adjustment working direction, until arrive across below obstacle cable time, front robotic arm articulations digitorum manus stretches out and completes action of making contact;
L) aerial cable inspection robot reduction initial condition, completes obstacle detouring process.
In described method of the present invention, described articulations digitorum manus can be include: screw shaft, make contact motor and one hold line motor; Described motor of making contact is fixed on the traveling gear of robot; One end of described screw shaft is fixed on makes contact on the output revolving shaft of motor, and the termination of its this side is fixedly connected with the output revolving shaft holding line motor of suspension); Get in formula obstacle detouring at described sideswinging type with swinging,
Described concrete grammar of making contact is: the motor of making contact on robot articulations digitorum manus rotates, its screw shaft is driven to be flapped toward cable, when screw shaft touches cable, hold line electric motor starting to rotate, drive screw shaft rotation, the screw thread on screw shaft drives cable parallel motion, time immediately below the road wheel that cable arrives traveling gear, the motor contrarotation 90 degree of making contact of articulations digitorum manus, gravitate, the road wheel of traveling gear rides on cable;
The concrete grammar of described off-line is: the motor of making contact on robot articulations digitorum manus rotates forward 90 degree, holds line motor reversal, and when departing from the vertical projection district of the road wheel of traveling gear front end or rear end, motor contrarotation 90 degree of making contact, completes off-line action.
In described method of the present invention, described articulations digitorum manus can be have aforesaid off-line device of making contact, and gets in formula obstacle detouring at described sideswinging type with swinging,
The described concrete grammar of making contact is: when described make contact off-line device by robot lift can catch cable height time, cable contacts its sensitive bar, this sensitive bar moves downward, touch drive link, this drive link touches frizzen again around fulcrum, and frizzen loosens snap close and makes whole traveling gear descending; By the effect of drive link thrust and self gravitation, described traveling gear struts the bayonet socket on buckle release, and traveling gear is locked by buckle release, exports turbine and contacts with transmission turbine, the power from movable motor is sent to road wheel, to complete corresponding sports;
The concrete grammar of described off-line is: when needs off-line, off-line electric machine rotation, drives eccentric cam to rotate, and eccentric cam promotes the main vertical pole of buckle release and rotates counterclockwise, and makes the bayonet socket on buckle release top loosen occlusion to framework; The whole relative cable of off-line device of making contact moves down, cable relative uplink, drive on traveling gear and move, the stop motion when traveling gear moving to limiting card, snap close now is also tightened up spring straining, fasten traveling gear, sensitive bar is homing under the effect of retracing spring, waits for work of next time making contact.
Advantage of the present invention is:
1, utilize of the present invention swinging to get over formula robotic arm and method, robot can improve stability, agility during obstacle detouring;
2, compared with the prior art, the present invention can make the maximum across obstacle distance of robot double;
3, do not need to adjust machine person appearance by pulsation-free when counterweight; While side robotic arm adjustment figure, another robotic arm can do makes contact or the preliminary activities of off-line, reaches agility.
4, compared with the prior art, under equivalent motor service conditions, owing to decreasing mass, (counterweight is the object that a relative mass is larger.In addition, the slide rail coordinating mass movement is also the object that a relative mass is larger.If decrease these two large weights, the load capacity of robot adds naturally), the present invention can improve the load capacity of the suitable counterweight of robot.
Accompanying drawing explanation
Fig. 1 is that swinging of aerial cable inspection robot of the present invention gets over formula robotic arm one example structure principle schematic.
Fig. 2 is principle of work schematic diagram of the present invention
Fig. 3 is traveling gear of the present invention and articulations digitorum manus composite structure one example structure schematic diagram.
Structural representation when Fig. 4 is screw shaft embodiment illustrated in fig. 3 grasping cable status.
Structural representation when Fig. 5 is return state after screw shaft embodiment illustrated in fig. 3 grasping cable.
Fig. 6 is traveling gear of the present invention and another embodiment of articulations digitorum manus composite structure (off-line device of making contact) structural representation (master looks, and off-line state, eliminates the housing of framework).
Fig. 7 is off-line device structural representation of making contact embodiment illustrated in fig. 6 (master looks, and state of making contact, eliminates the housing of framework).
Fig. 8 be embodiment illustrated in fig. 6 in framework and the structural representation of traveling gear part.
Fig. 9 is off-line device structural representation of making contact (side-looking, state of making contact) embodiment illustrated in fig. 6.
Figure 10 is the buckle release fundamental diagram (partial enlargement) of off-line device of making contact embodiment illustrated in fig. 6.
Action schematic diagram (body Right deviation) when Figure 11 is body place locations of structures of the present invention.
Action schematic diagram (body is left-leaning) when Figure 12 is body place locations of structures of the present invention.
Action schematic diagram (body rises, and elbow arm bends) when Figure 13 is body place locations of structures of the present invention.
Action schematic diagram (elbow arm is stretched, and body is descending) when Figure 14 is body place locations of structures of the present invention.
Figure 15 is the course of action schematic diagram that the present invention crosses over less obstacle.
Figure 16 is the course of action schematic diagram that the present invention crosses over larger obstacle.
In Fig. 1 to Fig. 5: 1. traveling gear; 2. articulations digitorum manus; 3. horizontally rotate joint; 4. wrist joint; 5. elbow joint; 6. shoulder joint; 7. flexible cable; 8. body; 11. cables; 12. road wheels; 21. screw shafts; 22. make contact motor; 23. hold line motor; 24. speed reduction gearings; 41. fixed pulleys; 61. first Rolling motors; 61 '. the 3rd Rolling motor; 71. reverse flexible cables; 81. second tin roller motors; 81 '. the 4th Rolling motor.
In Fig. 6 to Figure 10:
1 '-sensitive bar; 2 '-drive link; 3 '-frame; 4 '-fulcrum; 5 '-frizzen; 6 '-snap close; 7 '-limiting card; 8 '-framework; 9 '-road wheel; 10 '-transmission turbine; 11 '-movable motor; 12 '-speed reduction gearing; 13 '-and export turbine; 14 '-off-line motor; 15 '-buckle release; 16 '-retracing spring; 17 '-back-moving spring; 18 '-cable; 19 '-buckle release fulcrum; 20 '-assistant support; 21 '-support spring; 22 '-eccentric cam; 23 '-drive block; 24 '-main vertical pole.
In Figure 15 and Figure 16:
represent stressed flexible cable; Flexible cable is loosened in " ┉ ┉ " representative.
Below in conjunction with drawings and the specific embodiments, the present invention is described further.
Detailed description of the invention
As shown in Figure 1, aerial cable inspection robot in the present invention is formed primarily of a body 8, a pair traveling gear 1, a pair robotic arm and control system combination, a pair described robotic arm is arranged on the two ends of body, it both can load-bearing and can protracting and grasp (relying on a pair articulations digitorum manus group), traveling gear and robotic arm can be driven to complete instruction action (as move ahead, stop, making contact fast and off-line etc.) by control system; Include one in described each robotic arm and horizontally rotate joint 3, wrist joint 4, elbow joint 5 and a shoulder joint 6, chief creating of the present invention is made and is a little: be connected with flexible cable between each wrist joint and body two-end-point.
See Fig. 1 and Fig. 2, each wrist joint 4 place of swinging more formula robotic arm of aerial cable inspection robot of the present invention is provided with a fixed pulley 41; A pair shoulder joint 6 is located at body two-end-point place respectively, each shoulder joint 6 place is provided with two Rolling motors and (forms two groups altogether, wherein form one group by the first Rolling motor 61 and second tin roller motor 81, the 3rd Rolling motor 61 ' and the 4th Rolling motor 81 ' form another group); Described each elbow joint 5 adopts retracing spring; The flexible cable that described each wrist joint 4 and body are connected with between two-end-point (sets: be connected with flexible cable 7 between each wrist joint and this side body two-end-point; Anti-flexible cable 71 is connected with between each wrist joint and opposite side body two-end-point) can be the rope of whole, the two ends of this whole-root rope rope are connected on a series cylinder motor (the first Rolling motor 61 and second tin roller motor 81) at the shoulder joint place being located at body two-end-point respectively, centre is walked around via the fixed pulley 41 at wrist joint place, this whole-root rope rope with the fixed pulley 41 at wrist joint 4 place for pivot point, can by action demand to two Slideslips to regulate rope lengths and the tension force of two side ends.Preferred version is: flexible cable (adopting rope in the present embodiment) is wound around in wrist joint and at least will winds with one circuit, and to increase the friction force between flexible cable and pulley, better coordinates the motion in each joint with stable, that fast speed realizes robot obstacle detouring.
The structure design of aerial cable inspection robot of the present invention adopts the arm structure of imitative gibbon, the design of every bar robotic arm be 4 rotatable joints and 1 rotatable joint, shoulder joint 6 respectively, elbow joint 5, wrist joint 4, articulations digitorum manus 2 and horizontally rotate joint 3, and introduce a flexible cable 7 between wrist joint and the two ends of body (casing).
Aerial cable inspection robot robotic arm make contact and off-line relies on the composite structural design of traveling gear 1 and one group of articulations digitorum manus 2 to realize:
Fig. 3 to Fig. 5 shows a kind of traveling gear of routine and the composite structure of articulations digitorum manus: include make contact motor 22 and one of a screw shaft 21, and hold line motor 23; Described motor of making contact is fixed on traveling gear 1; One end of described screw shaft 21 is fixed on makes contact on the output revolving shaft of motor 22, realizes and the making contact and off-line of cable with the Double-directional rotary with motor of making contact; And the termination of this side of screw shaft 21 is fixedly connected with by the output revolving shaft holding line motor 23 of speed reduction gearing 24 with suspension, to realize the rotation of screw shaft with the rotation of holding line motor 23.The position of holding line motor 23 can the displacement with the swing of screw shaft, and screw shaft can realize rotation with the rotation of the output revolving shaft holding line motor 23.Utilize this composite structure can realize the motion of making contact fast of traveling gear, as shown in Figure 3: when having crossed over, when the traveling gear of robotic arm arrives cable height, grab line motor 22 and rotate, drive screw shaft 21 to rotate with the axis of parallel cable 11, complete motion of making contact; When screw shaft 21 touches cable 11, hold line motor 23 and rotate, drive screw shaft 21 to rotate with the axis holding line motor 23.The screw thread that screw shaft 21 carries drives cable 11 parallel motion, and when arriving immediately below road wheel, grab line motor 22 contrarotation 90 degree, gravitate, road wheel rides on cable; Make contact (as shown in Figure 5).Utilize articulations digitorum manus to realize off-line, off-line working flow process is contrary with workflow of making contact, and grabs line motor 22 and rotates forward 90 degree, hold line motor 23 and reverse, when departing from the vertical projection district of road wheel, grab line motor 22 contrarotation 90 degree, complete off-line action.
Fig. 6 to Figure 10 shows the composite structure of another kind of preferably traveling gear and articulations digitorum manus: the frame 3 ' with one " U " formula; The top of this frame 3 ' side vertical frame connects traveling gear by a moving fulcrum, this traveling gear has a framework 8 ' and (comprises a housing and center shaft, see Fig. 8), the center shaft of this framework 8 ' is arranged with road wheel 9 ' and transmission turbine 10 '; Be installed on a sensitive bar 1 ' on the top of this side vertical frame, trigger mechanism that the drive link 2 ' and of a circular arc can touch traveling gear action; One end of described sensitive bar 1 ' is flexibly connected with the fulcrum in this frame vertical frame and around this fulcrum; Described drive link 2 ' is connected with the vertical frame of this side by the fulcrum 4 ' of an activity, and one end of this drive link is against the lower end of sensitive bar 1 ', and the other end can touch trigger mechanism when rotating.Described trigger mechanism includes the snap close 6 ' of a lockable traveling gear, and this snap close 6 ' is implemented to loosen, implement tension by back-moving spring 17 ' by frizzen 5 '; The framework of traveling gear is installed a drive block 23 ', and when trigger mechanism is triggered, frizzen can prop up this drive block and walk downwards to make it.Retracing spring 16 ' is connected with between the vertical frame of the middle part of this drive link and this frame of frame; The top of this side vertical frame is provided with the limiting card 7 ' for limiting traveling gear.Movable motor 11 ', speed reduction gearing 12 ' are installed from the bottom to top successively at the top of the opposite side vertical frame of this frame 3 ' and export turbine 13 ', described movable motor 11 ' is connected with output turbine 13 ' by speed reduction gearing 12 ', also installs the buckle release 15 ' of a top with bayonet socket at the top of this side vertical frame simultaneously.When the framework 8 ' of described frame side is engaged by buckle release 15 ' the top bayonet socket in opposite side vertical frame, described transmission turbine can realize mutual toe joint with output turbine.
Shown in Figure 10, described buckle release comprises assistant support 20 ' corresponding to a pair main vertical pole 24 ' and a pair position, and the top of each main vertical pole 24 ', with dop, forms the bayonet socket on buckle release top between the dop at this main vertical pole top and the top of assistant support 20 '; Between each main vertical pole and the assistant support corresponding with it, be connected with support spring 21 ', main vertical pole is provided with a buckle release fulcrum 19 '; This buckle release is also equipped with an off-line motor 14 ' and an eccentric cam 22 ', and described eccentric cam is set on the output shaft of off-line motor, and the rotation of this eccentric cam can promote buckle release and rotate counterclockwise.
The effect of described sensitive bar 1 ' is when the height can catching cable 18 ' is lifted by robot by this mechanism, cable 18 ' contacts sensitive bar 1 ', and this sensitive bar moves downward, and touches drive link 2 ', drive link 2 ', again around fulcrum, touches frizzen 5 ' then.Frizzen 5 ' loosens snap close 6 ' and makes whole traveling gear descending.By the effect of drive link 2 ' thrust and gravity, traveling gear struts buckle release 15 ', and the traveling gear of buckle release locking subsequently, output turbine 13 ' now just contacts with transmission turbine 10 ', and power is delivered to road wheel 9 ', completes motion of making contact accordingly.
When needs off-line, off-line motor 14 ' rotates, and eccentric cam 22 ' rotates, and the main vertical pole 24 ' that eccentric cam 22 promotes buckle release rotates counterclockwise, and makes the top bayonet socket of buckle release loosen occlusion to framework 8 '.The whole relative cable 18 ' of off-line device of taking moves down.Cable 18 ' relative uplink, drives on traveling gear and moves, stop motion when above moving to limiting card 7 ', snap close 6 ' now is also tightened up spring 17 ' and strains, fasten traveling gear, sensitive bar 2 homing under the effect of retracing spring 16 ', wait for work of next time making contact.
When robot is normally walked, movable motor 11 ' ground-engaging wheel 9 ' is advanced on the line; When running into obstacle, the off-line device of making contact of aerial cable inspection robot of the present invention make road wheel 9 ' can fast speed off-line, adjustment machine arm type, grasp again, the action such as to make contact, this mechanism is at change centre of body weight and utilize own wt to break the barriers as energy to play a key effect.
In robot obstacle detouring process, two kinds of above-mentioned traveling geaies and the composite structure of articulations digitorum manus all can realize making contact fast and off-line of traveling gear; Also for robot is when overturning, swinging the motion of obstacle-overpass thing, in action potential transforms, Loss reducing provides technical guarantee.
In robot obstacle detouring process, described shoulder joint 6, elbow joint 5, wrist joint 4 for regulating the attitude of robotic arm, and locate the road wheel of traveling gear and the locations of structures of robot body; Figure 11 to Figure 14 citing shows action specification during four housing construction positions:
As shown in figure 11, for the action specification of body Right deviation, (this structure is for right robotic arm, left robotic arm action signal is contrary), the left and right two that two Rolling motors are arranged on robot is respectively takeed on, and (structure is subordinate to and is as the criterion with the installation site of fixed pulley, namely fixed pulley is contained in right machine wrist wrist joint place, and this covering device is exactly right robotic structure parts).Flexible cable 7 around fixed pulley 4 at least one week (object increase friction force), respectively as figure ties up on the outer shaft of two Rolling motors 61,81.Right hand roller motor 61 such as the direction of arrow is rotated, flexible cable 7 is drawn (the reference point P1 on it moves in the direction of arrows) by this Rolling motor 61, fixed pulley rotates with flexible cable lead, left hand roller motor 81 is static can not put rope, left hand roller motor drives the action together of shoulder basic point under the traction of right hand roller motor, being formed with fixed pulley is center of circle unitary rotation, causes body Right deviation.
As shown in figure 12, for the action of body "Left"-deviationist is illustrated, body is left-leaning contrary with the action of body Right deviation.
As shown in figure 13, the action signal for body rises, elbow arm is bending: in order to improve the potential energy of robot, need the particle of robot (barycenter) to improve relative height is exactly now allow two Rolling motors such as figure direction rotate.Along with the rotation of two Rolling motors, flexible cable is enclosed on cylinder, and the position of two Rolling motors and fixed pulley is shortened.Elbow arm, under the effect of the pulling force of flexible cable 7, bends, and body rises.
As shown in figure 14, for the action that elbow arm is stretched, body is descending is illustrated: shown in this action with Figure 12, action specification is contrary, is not repeated.
Due to, there is fixed pulley in wrist joint, and ancon joint adopts retracing spring, and when two Rolling motors do not impose restriction power, robotic arm unbending movement, rotates near shoulder joint pine.
In robot obstacle detouring process, described horizontally rotates joint 3 for regulating the attitude of the road wheel of traveling gear 1, can get around obstacle.
In robot obstacle detouring process, flexible cable 7 is mainly used in the weight of bearing robot, and namely the length adjusting it can reach the figure of centroid position and the adjustment robot regulating robot.
It was that the coordinated movement of various economic factors of the length (comprising flexible cable 7 and reverse flexible cable 71) of flexible cable on adjustment two robotic arms and each joint is to realize the obstacle crossing function of robot that this aerial cable inspection robot leads to.
When obstacle length size is less, such as obstacle is single overhanging golden tool, and aerial cable inspection robot of the present invention can adopt sideswinging type obstacle detouring, and this mode obstacle detouring distance is relatively little, but obstacle detouring speed, obstacle detouring process as shown in figure 15, in figure:
1) first, stop when aerial cable inspection robot of the present invention runs into obstacle moving ahead, see Figure 15 (A), now, the flexible cable that between two wrist joints and body two-end-point, (shoulder joint) is connected with is all stressed;
2) Rolling motor (the first Rolling motor 61 and the second tin roller motor 81) controlled rotation in two shoulder joint, the elbow joint bending of robotic arm before robot, robot barycenter moves, see Figure 15 (B), highly prepare for robotic arm is below made contact, after robotic arm off-line.Now, the flexible cable of previous machine arm is stressed; The flexible cable of robotic arm is loosened below;
3) the horizontal rotation joint of previous machine arm leans to one side to rotate, when the road wheel of the traveling gear end of robotic arm below clear the jumps arrive below cable time, after robotic arm stretch out, its articulations digitorum manus completes action of making contact, see Figure 15 (C); Now, forearm flexible cable is stressed; Postbrachium flexible cable is loosened.
4) below arm horizontally rotates joint and leans to one side to rotate, and when current machine arm end road wheel arrives below cable, previous machine arm stretches out, and its articulations digitorum manus completes action of making contact, see Figure 15 (D); Now, after, the flexible cable of robotic arm is stressed; The flexible cable of previous machine arm is loosened, and robot reduction initial condition, completes obstacle detouring process.
When obstacle length size is when larger, such as obstacle is two overhanging golden tools, aerial cable inspection robot of the present invention can adopt and swing more formula obstacle detouring mode, this mode obstacle detouring distance is larger, speed is also very fast, just control two robotic arms make contact and the off-line time necessarily coordinates (completed by control system, this can be existing techniques in realizing, does not repeat herein).The obstacle detouring process of aerial cable inspection robot of the present invention is as shown in figure 16:
A) in Figure 16 (E), for swinging more front readiness, first this aerial cable inspection robot run into obstacle stop move ahead;
B) in Figure 16 (F), bending the saving up strength of rear robotic arm can, front robotic arm is unfolded (being equivalent to swing radius more), concrete action is that the elbow arm of robotic arm after aerial cable inspection robot bends, the elbow arm of previous machine arm is unfolded gradually straight, and the barycenter of robot upwards, is backward moved;
C) Figure 16 (G) is for swinging more link, robotic arm off-line after aerial cable inspection robot, then forearm horizontally rotates joint rotation, robotic arm does the center of circle with the road wheel of robotic arm above and rotates forward and swing more below, until when walking mechanism end road wheel arrives the below across obstacle cable below, rear robotic arm stretches out, and its articulations digitorum manus completes action of making contact;
D) Figure 16 (H) be lean to one side rotate adjustment working direction, now, after robotic arm horizontally rotate joint rotate, the off-line of previous machine arm also leans to one side to rotate adjustment working direction, until arrive across below obstacle cable time, front robotic arm stretches out, and its articulations digitorum manus completes action of making contact.
As seen from Figure 16, it is similar that robot swings more formula obstacle detouring and sideswinging type obstacle detouring fundamental operation, but warming-up exercise is different, and the key distinction is that sideswinging type obstacle detouring mode robot is front brachiocylloosis and makes pivot center, and postbrachium does off-line, action of making contact.And to swing more formula barrier-surpassing robot be that robotic arm bends below, the road wheel of previous machine arm traveling gear does the center of circle, and forearm and body are radius, does movement in a curve, and meanwhile, forearm horizontally rotates joint or pivot center.
Above-mentioned more formula obstacle detouring and document [1] the rotary obstacle detouring of swinging contrasts, and by 7 simple motions decomposed, is also combined into 4 composite moves, improves the speed of obstacle detouring.
Especially when robot quality is excessive, the present invention more can highlight its preceence, original robot cannot complete especially and pluck off-line function on the cable having angle of inclination, because be equivalent to lift a very heavy object during original robot off-line, and cable can upwards promote when the strength pressed down reduces automatically by object, make change in location between the two little, cause off-line difficulty.And the robot with robotic arm of the present invention adopts and special takes off-line mechanism, when completing off-line action, cable discharges suddenly by off-line motor, whole robot declines suddenly by the effect of gravity, and cable is not by the downward pulling force of robotic arm, rise rapidly under tension, divide defection rapider between the two.
In above-mentioned every motion, the start and stop of described each motor are controlled by electric-control system, and this control technology is that prior art can realize, and does not repeat herein.
The various embodiments described above can in addition some changes under not departing from the scope of the present invention, therefore above explanation comprises and should be considered as exemplary, and is not used to the protection domain limiting the present patent application patent.
Claims (10)
1. swinging of an aerial cable inspection robot gets over formula robotic arm, this aerial cable inspection robot is made up of body and control system, described body at least includes a body, a pair traveling gear, a pair articulations digitorum manus group and a pair robotic arm, is connected on the robotic arm that each traveling gear is positioned at respective side with the articulations digitorum manus group of this respective side; It is characterized in that:
A pair described robotic arm is arranged on the two ends of body respectively, and include one in each robotic arm and horizontally rotate joint, a wrist joint, with the elbow arm of elbow joint and a shoulder joint, wherein, described shoulder joint is located at the end points place of body;
Flexible cable is connected with between the wrist joint of described each robotic arm and body two-end-point.
2. swinging of aerial cable inspection robot as claimed in claim 1 gets over formula robotic arm, it is characterized in that: be provided with a fixed pulley at described each wrist joint place, is provided with two Rolling motors at described each shoulder joint place; The flexible cable be connected with between the wrist joint of described each robotic arm and body two-end-point is the rope of whole, and this rope one end is fixedly around on the Rolling motor at body one end points shoulder joint place, centre is walked around via the fixed pulley at wrist joint place, and the other end is fixedly around on the Rolling motor at another end points shoulder joint place of body.
3. swinging of aerial cable inspection robot as claimed in claim 2 gets over formula robotic arm, it is characterized in that: the described rope walked around via wrist joint place fixed pulley is at least be wound around a circle on fixed pulley.
4., as swinging of the aerial cable inspection robot in claims 1 to 3 as described in any one gets over formula robotic arm, it is characterized in that: in described traveling gear, at least include a road wheel; Described each articulations digitorum manus group is made up of the articulations digitorum manus being symmetrically distributed in road wheel both sides, includes a screw shaft, make contact motor and one hold line motor in each articulations digitorum manus; Described motor of making contact is fixed on traveling gear; One end of described screw shaft is fixed on makes contact on the output revolving shaft of motor, realizes and the making contact and off-line of cable with the Double-directional rotary with motor of making contact; And the termination of this side of screw shaft is fixedly connected with the output revolving shaft holding line motor of suspension, to realize the rotation of screw shaft with the rotation of holding line motor.
5., as swinging of the aerial cable inspection robot in claims 1 to 3 as described in any one gets over formula robotic arm, it is characterized in that described articulations digitorum manus group and the traveling gear be connected are integrated into the off-line device of making contact of a combined type, this off-line utensil of making contact has:
The frame of one " U " formula;
The top of this frame side vertical frame connects traveling gear by a moving fulcrum, and this traveling gear has a framework, this framework is arranged with road wheel and transmission turbine; Be installed on a sensitive bar on the top of this side vertical frame, trigger mechanism that the drive link and of a circular arc can touch traveling gear action; One end of described sensitive bar is flexibly connected with the fulcrum in this frame vertical frame and around this fulcrum; Described drive link is connected with the vertical frame of this side by a moving fulcrum, and one end of this drive link is against the lower end of sensitive bar, and the other end can touch trigger mechanism when rotation, between the vertical frame of the middle part of this drive link and this frame of frame, be connected with retracing spring; The top of this side vertical frame is provided with the limiting card for limiting traveling gear;
At the top of this frame opposite side vertical frame, movable motor, speed reduction gearing and output turbine are installed from the bottom to top successively, described movable motor is connected with output turbine by speed reduction gearing, also installs the buckle release of a top with bayonet socket at the top of this side vertical frame simultaneously;
When the framework of described frame side is engaged by the buckle release top bayonet socket in opposite side vertical frame, described transmission turbine and the mutual toe joint of output turbine.
6. swinging of aerial cable inspection robot as claimed in claim 5 gets over formula robotic arm, it is characterized in that: described trigger mechanism includes the snap close of a lockable traveling gear, and this snap close is implemented to loosen, implement tension by back-moving spring by frizzen; The framework of traveling gear is installed a drive block, and the frizzen when position that this drive block is installed makes it to be triggered props up and drives the framework of traveling gear descending together downwards.
7. swinging of aerial cable inspection robot as claimed in claim 5 gets over formula robotic arm, it is characterized in that: described buckle release comprises assistant support corresponding to a pair main vertical pole and a pair position, the top of each main vertical pole, with dop, forms the bayonet socket on buckle release top between the dop at this main vertical pole top and the top of assistant support; Between each main vertical pole and the assistant support corresponding with it, be connected with support spring, main vertical pole is provided with a buckle release fulcrum; This buckle release is also equipped with an off-line motor and an eccentric cam, and described eccentric cam is set on the output shaft of off-line motor, and the rotation of this eccentric cam can promote buckle release and rotate counterclockwise with the main vertical pole of dop.
8. an obstacle-detouring method for aerial cable inspection robot, this aerial cable inspection robot has swinging in claim 1 to 7 described in any one and gets over formula robotic arm, it is characterized in that: when running into obstacle, adopts sideswinging type or swings more formula obstacle detouring; Wherein,
Described sideswinging type obstacle-detouring method is as follows:
A) first this aerial cable inspection robot run into obstacle stop move ahead;
B) Rolling motor at two robotic arm shoulder joint places rotates respectively, and before robot, the elbow arm of robotic arm bends, and the barycenter of robot moves;
C) robotic arm off-line afterwards; The horizontal rotation joint of front robotic arm leans to one side to rotate, the rear robotic arm of off-line is driven to rotate leap forward centered by it, when the road wheel arrival of the traveling gear above rear robotic arm has striden across below the cable of obstacle, the articulations digitorum manus that this rear robotic arm is corresponding has stretched out, and completes action of making contact;
D) thereupon, front robotic arm off-line; The joint that horizontally rotates of rear robotic arm leans to one side to rotate, the front robotic arm of off-line is driven again to rotate leap forward centered by it, when traveling gear road wheel above current machine arm is close or arrival has striden across below the cable of obstacle, the articulations digitorum manus that this front robotic arm is corresponding has stretched out action of making contact;
E) aerial cable inspection robot reduction initial condition, completes obstacle detouring process;
Described swing more that formula obstacle-detouring method is as follows:
F) first this aerial cable inspection robot run into obstacle stop move ahead;
G) after aerial cable inspection robot, the elbow arm of robotic arm bends, and the elbow arm of front robotic arm is unfolded gradually straight, and the barycenter of robot upwards, is backward moved;
H) robotic arm off-line after aerial cable inspection robot, then the joint that horizontally rotates of front robotic arm rotates, the front end road wheel of the traveling gear before rear robotic arm above robotic arm be the center of circle forward 180 degree rotates and does to swing to get over and move, until after on robotic arm traveling gear road wheel across obstacle close to or when arriving the height of cable, corresponding articulations digitorum manus stretches out and completes action of making contact;
I) now, the joint that horizontally rotates of rear robotic arm rotates, and front robotic arm off-line also leans to one side to rotate, adjustment working direction, until arrive across below obstacle cable time, the articulations digitorum manus that front robotic arm is corresponding stretches out and completes action of making contact;
J) aerial cable inspection robot reduction initial condition, completes obstacle detouring process.
9. method as claimed in claim 8, has articulations digitorum manus according to claim 4; Get in formula obstacle-detouring method at described sideswinging type with swinging:
Described concrete grammar of making contact is: the motor of making contact on robot articulations digitorum manus rotates, its screw shaft is driven to be flapped toward cable, when screw shaft touches cable, hold line electric motor starting to rotate, drive screw shaft rotation, the screw thread on screw shaft drives cable parallel motion, time immediately below the road wheel that cable arrives traveling gear, the motor contrarotation 90 degree of making contact of articulations digitorum manus, gravitate, the road wheel of traveling gear rides on cable;
The concrete grammar of described off-line is: the motor of making contact on robot articulations digitorum manus rotates forward 90 degree, holds line motor reversal, and when departing from the vertical projection district of the road wheel of traveling gear front end or rear end, motor contrarotation 90 degree of making contact, completes off-line action.
10. method as claimed in claim 8, has off-line device of making contact according to claim 5, wherein, and described sideswinging type or swing more in formula obstacle-detouring method,
Described concrete grammar of making contact is as follows: when described make contact off-line device by robot lift can catch cable height time, cable contacts its sensitive bar, this sensitive bar moves downward, touch drive link, this drive link touches frizzen again around fulcrum, and frizzen loosens snap close and makes whole traveling gear descending; By the effect of drive link thrust and self gravitation, described traveling gear struts the bayonet socket on buckle release, and traveling gear is locked by buckle release, exports turbine and contacts with transmission turbine, the power from movable motor is sent to road wheel, to complete corresponding sports;
The concrete grammar of described off-line is as follows: when needs off-line, off-line electric machine rotation, drives eccentric cam to rotate, and eccentric cam promotes the main vertical pole of buckle release and rotates counterclockwise, and makes the bayonet socket on buckle release top loosen occlusion to framework; The whole relative cable of off-line device of making contact moves down, cable relative uplink, drive on traveling gear and move, the stop motion when traveling gear moving to limiting card, snap close now is also tightened up spring straining, fasten traveling gear, sensitive bar is homing under the effect of retracing spring, waits for work of next time making contact.
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| CN201510650556.XA CN105292288B (en) | 2015-10-09 | 2015-10-09 | Aerial cable inspection robot swings more formula robotic arm and obstacle-detouring method |
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| CN201510650556.XA CN105292288B (en) | 2015-10-09 | 2015-10-09 | Aerial cable inspection robot swings more formula robotic arm and obstacle-detouring method |
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| CN112083060A (en) * | 2020-09-28 | 2020-12-15 | 李冰梅 | Experimental device for traction elbow release and traction pipeline magnetic flux leakage detector |
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