CN108972528A - A kind of multi-joint crusing robot - Google Patents
A kind of multi-joint crusing robot Download PDFInfo
- Publication number
- CN108972528A CN108972528A CN201811124898.8A CN201811124898A CN108972528A CN 108972528 A CN108972528 A CN 108972528A CN 201811124898 A CN201811124898 A CN 201811124898A CN 108972528 A CN108972528 A CN 108972528A
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- connecting rod
- servo motor
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- joint
- bus
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- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 14
- 230000001133 acceleration Effects 0.000 claims description 14
- 239000000779 smoke Substances 0.000 claims description 11
- 239000007787 solid Substances 0.000 claims description 2
- 238000007689 inspection Methods 0.000 abstract description 15
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Manipulator (AREA)
Abstract
A kind of multi-joint crusing robot provided by the invention, including track, pedestal, control mechanism, bindiny mechanism and acquisition device are provided with movable pulley on pedestal, and movable pulley is moved along track；Control mechanism is arranged on the base；Bindiny mechanism includes 1 fixed link and N number of connecting rod, pass through N number of joint axis connection between N number of connecting rod, N number of joint shaft is separately connected N number of servo motor, servo motor for controlling the rotation angle of joint shaft respectively, to control the retracted position of connecting rod, when N number of connecting rod is shunk completely in the same level, when the equal fully unfolded position of N number of connecting rod on same perpendicular.It is convenient for the feature of folded bent using joint shaft, can be when small space to be maked an inspection tour, cut-through object increases the flexibility of crusing robot.
Description
Technical field
The present invention relates to robot inspection technical fields, and in particular to multi-joint crusing robot.
Background technique
The key areas security risks such as hydraulic engineering gallery, power engineering pipeline, orbit tunnel are found most when walkaround inspection
Strong mode is the important means for making up the monitoring of instrument point.According to related statistics both at home and abroad, by each portion of multi-purpose project
Position patrol check, it can be found that in engineering safety 70% or more hidden danger, therefore reinforce walkaround inspection dynamics and improve tour inspection
Looking into working efficiency is the most important thing for making an inspection tour Inspection Research.Since the complex, high intensity, management difficulty of traditional inspection are big etc. more
Kind reason, leading to inspection, there are many deficiencies, are mainly manifested in following two aspects.Firstly, artificial during traditional inspection
Inspection, which is affected by human factors, more to be protruded, and backward record of patrol mode causes data poor consistency and error rate high, unfavorable
In computer disposal.Secondly, administrative staff can not effectively grasp the working condition and safe condition of patrol officer, inspection quality without
Method guarantee.
The existing crusing robots such as gallery, pipeline that are directed to include rail type and trackless, trackless crusing robot
The form of moving trolley is mostly used to carry out inspection, but intricate inside gallery, height rises and falls, moving trolley is advanced unobstructed
Property difficulty move keep.Rail type crusing robot has ensured the patency advanced, but since track is fixed at the top of gallery
Or bottom, flexibility is poor, and detection device and the angle of object to be checked can not change, and if desired shoots or detect the signal of multi-angle
Data, then existing rail type crusing robot is unable to satisfy demand.Also, dark wet and slippery, environment inside existing gallery, pipeline
Badly, control mechanism is easy to appear failure, and functional reliability is not high.
Summary of the invention
For the defects in the prior art, the present invention provides a kind of multi-joint crusing robot, using joint shaft convenient for folding
Curved feature is folded, can be when small space to be maked an inspection tour, cut-through object increases the flexibility of crusing robot.
A kind of multi-joint crusing robot provided by the invention, including track, pedestal, control mechanism, bindiny mechanism and adopt
Acquisition means are provided with movable pulley on pedestal, and movable pulley is moved along track；Control mechanism is arranged on the base；Bindiny mechanism includes 1
A fixed link and N number of connecting rod, N number of connecting rod include the 1st connecting rod, the 2nd connecting rod ... N-1 connecting rod, N connecting rod,
The head end of one end of fixed link and pedestal fixed-link, the other end of fixed link and the 1st connecting rod passes through the 1st joint axis connection；
By the 2nd joint axis connection ..., the tail end and N of N-1 connecting rod connect for the tail end of 1st connecting rod and the head end of the 2nd connecting rod
The head end of extension bar connects acquisition device by the joint N axis connection, the tail end of N connecting rod；Control mechanism is controlled including the first CAN
Device, the first CAN bus and N number of servo motor processed, N number of servo motor include the 1st servo electricity being connected in the first CAN bus
Machine, the 2nd servo motor ... N-1 servo motor, N servo motor, the 1st servo motor is connected with the 1st joint shaft, the 2nd watches
Take motor to be connected with the 2nd joint shaft ... N-1 servo motor be connected with N-1 joint shaft, N servo motor with N
Joint shaft is connected；First CAN controller is connected with the first CAN bus.
Further, the value of N is the integer of 2-10.
Further, acquisition device includes high-definition camera instrument, laser radar, temperature sensor, humidity sensor, smog biography
Sensor and sound transducer, the high-definition camera instrument, laser radar, temperature sensor, humidity sensor, smoke sensor device harmony
Sound sensor passes through the first CAN bus respectively and is connected with the first CAN controller.
Further, acquisition device further includes Zigbee locating module, acceleration transducer and gyroscope, the Zigbee
Locating module, acceleration transducer and gyroscope are connected by the first CAN bus with the first CAN controller；The acceleration
Sensor and gyroscope are used to carry out acquisition device inertial positioning, and the Zigbee locating module is used for base acceleration sensing
The inertial positioning that device and gyroscope are realized carries out precision calibration.
Further, control mechanism further includes the second CAN controller, the second CAN bus and the 2nd CAN switch, N number of servo
Motor connection is also connected with the second CAN bus；Be also connected with clock module in first CAN controller, the first CAN controller with
2nd CAN switch is connected；High-definition camera instrument, laser radar, temperature sensor, humidity sensor, smoke sensor device and sound
Sensor passes through the second CAN bus respectively and is connected with the second CAN controller.
Further, control mechanism further includes that the second CAN controller, the second CAN bus and the 2nd CAN are switched, described N number of
Servo motor connection is also connected with the second CAN bus；Clock module, the first CAN are also connected in first CAN controller
Controller is connected with the 2nd CAN switch；Zigbee locating module, acceleration transducer and gyroscope pass through the 2nd CAN respectively
Bus is connected with the second CAN controller.
As shown from the above technical solution, beneficial effects of the present invention:
1. the present invention provides a kind of multi-joint crusing robot, including track, pedestal, control mechanism, bindiny mechanism and acquisition dress
It sets, movable pulley is provided on pedestal, movable pulley is moved along track；Control mechanism is arranged on the base；Bindiny mechanism includes 1 solid
Fixed pole and N number of connecting rod, by N number of joint axis connection between N number of connecting rod, N number of joint shaft is separately connected N number of servo motor,
Servo motor for controlling the rotation angle of joint shaft respectively, and to control the retracted position of connecting rod, N number of connecting rod is received completely
When contracting in the same level, when the equal fully unfolded position of N number of connecting rod on same perpendicular.Just using joint shaft
, can be when small space to be maked an inspection tour in the feature of folded bent, cut-through object increases the flexibility of crusing robot.
2. the present invention provides a kind of multi-joint crusing robot, by the first CAN bus of setting, the first CAN controller and
The Redundant Control of second CAN bus, the second CAN controller guarantees the reliability that crusing robot works under rugged environment.
Detailed description of the invention
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art are briefly described.In all the appended drawings, similar element
Or part is generally identified by similar appended drawing reference.In attached drawing, each element or part might not be drawn according to actual ratio.
Fig. 1 is the structural schematic diagram of multi-joint crusing robot of the present invention.
Fig. 2 is the top view of bindiny mechanism in multi-joint crusing robot of the present invention.
Fig. 3 is the control block diagram of multi-joint crusing robot of the present invention.
Appended drawing reference:
1- track, 2- pedestal, 3- control mechanism, 4- fixed link, 5- connecting rod, 6- acquisition device, the 1st joint axis connection of 7-, 8-
2nd joint axis connection, the 3rd joint axis connection of 9-, the 1st connecting rod of 51-, the 2nd connecting rod of 52-, the 3rd connecting rod of 53-.
Specific embodiment
It is described in detail below in conjunction with embodiment of the attached drawing to technical solution of the present invention.Following embodiment is only used for
Clearly illustrate technical solution of the present invention, therefore be only used as example, and cannot be used as a limitation and limit protection model of the invention
It encloses.
It should be noted that unless otherwise indicated, technical term or scientific term used in this application should be this hair
The ordinary meaning that bright one of ordinary skill in the art are understood.
It please refers to Fig.1 to Fig.3, a kind of multi-joint crusing robot provided in this embodiment, including track, pedestal, control
Mechanism, bindiny mechanism and acquisition device are provided with movable pulley on pedestal, and movable pulley is moved along track；The setting of base control mechanism exists
On pedestal；
Bindiny mechanism includes 1 fixed link and N number of connecting rod, and N value is 3 in the present embodiment, i.e., connecting rod includes the 1st connection
Bar, the 2nd connecting rod and the 3rd connecting rod, one end of fixed link and pedestal fixed-link, the other end of fixed link and the 1st connecting rod
Head end pass through the 1st joint axis connection；The tail end of 1st connecting rod and the head end of the 2nd connecting rod are by the 2nd joint axis connection, and the 2nd
By the 3rd joint axis connection, the tail end of the 3rd connecting rod connects acquisition device for the tail end of connecting rod and the head end of the 3rd connecting rod；
Control mechanism includes the first CAN controller, the first CAN bus and 3 servo motors, and 3 servo motors include being connected to
The 1st servo motor, the 2nd servo motor and the 3rd servo motor in first CAN bus, the 1st servo motor and the 1st joint shaft phase
Connection, the 2nd servo motor are connected with the 2nd joint shaft, and the 3rd servo motor is connected with the 3rd joint shaft；First CAN controller
It is connected with the first CAN bus.
1st servo motor, the 2nd servo motor and the 3rd servo motor control the 1st connecting rod, the 2nd connecting rod and the 3rd respectively
Connecting rod is shunk or expansion, and the 1st connecting rod, the 2nd connecting rod and the 3rd connecting rod fully collapsed condition are laterally, to put down with horizontal plane
Row；1st connecting rod, the 2nd connecting rod and the 3rd connecting rod fully unfolded position be it is vertical, with horizontal plane.
When 1st connecting rod, the 2nd connecting rod and the 3rd connecting rod are shunk completely in same level；1st connecting rod,
When the 2nd connecting rod and the equal fully unfolded position of the 3rd connecting rod on same perpendicular.
1st servo motor, the 2nd servo motor and the 3rd servo motor are to the 1st connecting rod, the 2nd connecting rod and the 3rd connecting rod
It shrinks or the control of unfolded state is independent.1st Serve Motor Control is used for by the rotation angle of the 1st joint shaft of control
The state of the 1st connecting rod is controlled, the 2nd servo motor, the 3rd servo motor can not work at this time.
Acquisition device includes high-definition camera instrument, laser radar, temperature sensor, humidity sensor, smoke sensor device harmony
Sound sensor, high-definition camera instrument, laser radar, temperature sensor, humidity sensor, smoke sensor device and sound transducer difference
It is connected by the first CAN bus with the first CAN controller.
Control mechanism further includes the second CAN controller, the second CAN bus and the 2nd CAN switch, N number of servo motor connection
Also it is connected with the second CAN bus；Clock module, the first CAN controller and the 2nd CAN are also connected in first CAN controller
Switch is connected；High-definition camera instrument, laser radar, temperature sensor, humidity sensor, smoke sensor device and sound transducer point
It is not connected by the second CAN bus with the second CAN controller.
It is Redundant Control between first CAN bus, the first CAN controller and the second CAN bus, the second CAN controller.Just
Under normal state, the 2nd CAN switch is closed, and the second CAN controller does not work；High-definition camera instrument, laser radar, temperature sensor,
The signal of detection is transmitted to the first CAN control by the first CAN bus by humidity sensor, smoke sensor device and sound transducer
Device；Clock module is provided in first CAN controller, the setting value of clock module is 5S, if the first CAN controller does not connect in 5S
Receive high-definition camera instrument, laser radar, temperature sensor, humidity sensor, smoke sensor device and sound transducer any one
Signal then illustrates the first CAN bus there are failure, and the first CAN controller controls the 2nd CAN switch and opens, the second CAN controller
Start receive high-definition camera instrument, laser radar, temperature sensor, humidity sensor, smoke sensor device and sound transducer letter
Number.
Acquisition device further includes Zigbee locating module, acceleration transducer and gyroscope, and Zigbee locating module accelerates
Degree sensor and gyroscope are connected by the first CAN bus with the first CAN controller；Acceleration transducer and gyroscope are used for
Inertial positioning is carried out to acquisition device, the Zigbee locating module is for being used to base acceleration transducer and gyroscope realization
Property positioning carry out precision calibration.When the first CAN bus is there are failure, the first CAN controller controls the 2nd CAN switch and opens, the
Two CAN controllers start to receive the positioning signal of Zigbee locating module, acceleration transducer and gyroscope.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme should all cover within the scope of the claims and the description of the invention.
Claims (6)
1. a kind of multi-joint crusing robot, it is characterised in that: including track, pedestal, control mechanism, bindiny mechanism and acquisition dress
It sets, movable pulley is provided on the pedestal, the movable pulley is moved along track；The control mechanism setting is on the base；
The bindiny mechanism include 1 fixed link and connecting rod, the connecting rod be it is N number of, N number of connecting rod is respectively the 1st
Connecting rod, the 2nd connecting rod ... N-1 connecting rod, N connecting rod, one end of the fixed link and pedestal fixed-link, it is described solid
The other end of fixed pole and the head end of the 1st connecting rod pass through the 1st joint axis connection；The tail end and the 2nd connecting rod of 1st connecting rod
Head end by the 2nd joint axis connection ..., the tail end of the N-1 connecting rod and the head end of N connecting rod pass through N joint shaft
The tail end of connection, the N connecting rod connects acquisition device；
The control mechanism includes the first CAN controller, the first CAN bus and N number of servo motor, N number of servo motor packet
Include the 1st servo motor, the 2nd servo motor ... the N-1 servo motor, N servo motor being connected in the first CAN bus, institute
N-1 servo motor of stating that the 1st servo motor is connected with the 1st joint shaft, the 2nd servo motor is connected with the 2nd joint shaft ... with
N-1 joint shaft is connected, N servo motor is connected with N joint shaft；First CAN controller and the first CAN are total
Line is connected.
2. multi-joint crusing robot according to claim 1, it is characterised in that: the value of N is the integer of 2-10.
3. multi-joint crusing robot according to claim 1, it is characterised in that: the acquisition device includes high-definition camera
Instrument, laser radar, temperature sensor, humidity sensor, smoke sensor device and sound transducer, the high-definition camera instrument, laser
Radar, temperature sensor, humidity sensor, smoke sensor device and sound transducer pass through the first CAN bus and the first CAN respectively
Controller is connected.
4. multi-joint crusing robot according to claim 1, it is characterised in that: the acquisition device further includes Zigbee
Locating module, acceleration transducer and gyroscope, the Zigbee locating module, acceleration transducer and gyroscope pass through first
CAN bus is connected with the first CAN controller；It is fixed that the acceleration transducer and gyroscope are used to carry out inertia to acquisition device
Position, the Zigbee locating module are used to carry out precision calibration to the inertial positioning that base acceleration transducer and gyroscope are realized.
5. multi-joint crusing robot according to claim 3, it is characterised in that: the control mechanism further includes second
CAN controller, the second CAN bus and the 2nd CAN switch, N number of servo motor connection are also connected with the second CAN bus；
Clock module is also connected in first CAN controller, first CAN controller is connected with the 2nd CAN switch；
The high-definition camera instrument, laser radar, temperature sensor, humidity sensor, smoke sensor device and sound transducer difference
It is connected by the second CAN bus with the second CAN controller.
6. multi-joint crusing robot according to claim 4, it is characterised in that: the control mechanism further includes second
CAN controller, the second CAN bus and the 2nd CAN switch, N number of servo motor connection are also connected with the second CAN bus；
Clock module is also connected in first CAN controller, first CAN controller is connected with the 2nd CAN switch；It is described
Zigbee locating module, acceleration transducer and gyroscope pass through the second CAN bus respectively and are connected with the second CAN controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811124898.8A CN108972528A (en) | 2018-09-26 | 2018-09-26 | A kind of multi-joint crusing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811124898.8A CN108972528A (en) | 2018-09-26 | 2018-09-26 | A kind of multi-joint crusing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108972528A true CN108972528A (en) | 2018-12-11 |
Family
ID=64542885
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811124898.8A Withdrawn CN108972528A (en) | 2018-09-26 | 2018-09-26 | A kind of multi-joint crusing robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN108972528A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109760106A (en) * | 2019-01-03 | 2019-05-17 | 中建地下空间有限公司 | A kind of modularization extension rail pipe gallery intelligent inspection robot |
| CN109760018A (en) * | 2019-01-03 | 2019-05-17 | 中建地下空间有限公司 | A kind of power cabin device |
| CN112931287A (en) * | 2021-01-28 | 2021-06-11 | 河北农业大学 | Inspection robot for livestock and poultry breeding |
| CN114474005A (en) * | 2021-12-07 | 2022-05-13 | 江苏集萃智能制造技术研究所有限公司 | Inspection robot for limited space |
| CN114800567A (en) * | 2022-05-10 | 2022-07-29 | 上海工程技术大学 | Track robot for in-tunnel inspection |
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| JP2008210183A (en) * | 2007-02-27 | 2008-09-11 | Yokogawa Electric Corp | Redundant control system |
| CN101631057A (en) * | 2009-08-17 | 2010-01-20 | 北京航空航天大学 | Network control method of dual-redundancy CAN bus |
| CN105945900A (en) * | 2016-06-03 | 2016-09-21 | 国网宁夏电力公司检修公司 | Indoor inspection robot for transformer substation |
| CN207327003U (en) * | 2017-08-08 | 2018-05-08 | 王天辰 | Power equipment intelligent inspection robot system |
| CN108189924A (en) * | 2017-11-28 | 2018-06-22 | 国网浙江省电力公司紧水滩水力发电厂 | A kind of water power crusing robot and its method for inspecting |
| CN208713981U (en) * | 2018-09-26 | 2019-04-09 | 重庆西电普华智能机器人技术有限公司 | A kind of multi-joint crusing robot |
-
2018
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Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2008210183A (en) * | 2007-02-27 | 2008-09-11 | Yokogawa Electric Corp | Redundant control system |
| CN101631057A (en) * | 2009-08-17 | 2010-01-20 | 北京航空航天大学 | Network control method of dual-redundancy CAN bus |
| CN105945900A (en) * | 2016-06-03 | 2016-09-21 | 国网宁夏电力公司检修公司 | Indoor inspection robot for transformer substation |
| CN207327003U (en) * | 2017-08-08 | 2018-05-08 | 王天辰 | Power equipment intelligent inspection robot system |
| CN108189924A (en) * | 2017-11-28 | 2018-06-22 | 国网浙江省电力公司紧水滩水力发电厂 | A kind of water power crusing robot and its method for inspecting |
| CN208713981U (en) * | 2018-09-26 | 2019-04-09 | 重庆西电普华智能机器人技术有限公司 | A kind of multi-joint crusing robot |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109760106A (en) * | 2019-01-03 | 2019-05-17 | 中建地下空间有限公司 | A kind of modularization extension rail pipe gallery intelligent inspection robot |
| CN109760018A (en) * | 2019-01-03 | 2019-05-17 | 中建地下空间有限公司 | A kind of power cabin device |
| CN112931287A (en) * | 2021-01-28 | 2021-06-11 | 河北农业大学 | Inspection robot for livestock and poultry breeding |
| CN114474005A (en) * | 2021-12-07 | 2022-05-13 | 江苏集萃智能制造技术研究所有限公司 | Inspection robot for limited space |
| CN114474005B (en) * | 2021-12-07 | 2023-09-15 | 江苏集萃智能制造技术研究所有限公司 | Inspection robot in limited space |
| CN114800567A (en) * | 2022-05-10 | 2022-07-29 | 上海工程技术大学 | Track robot for in-tunnel inspection |
| CN114800567B (en) * | 2022-05-10 | 2023-05-02 | 上海工程技术大学 | Track robot for inspection in tunnel |
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Application publication date: 20181211 |