CN110000816A - A kind of inspection robot New-type charge method - Google Patents

A kind of inspection robot New-type charge method Download PDF

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Publication number
CN110000816A
CN110000816A CN201910305498.5A CN201910305498A CN110000816A CN 110000816 A CN110000816 A CN 110000816A CN 201910305498 A CN201910305498 A CN 201910305498A CN 110000816 A CN110000816 A CN 110000816A
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CN
China
Prior art keywords
mechanical arm
charging
tensioning wheel
robot
driving
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Granted
Application number
CN201910305498.5A
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Chinese (zh)
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CN110000816B (en
Inventor
孙奕
欧阳开一
张宝利
王齐
邱文锋
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zhongke Creation (guangzhou) Intelligent Technology Development Co Ltd
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Zhongke Creation (guangzhou) Intelligent Technology Development Co Ltd
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Priority to CN201910305498.5A priority Critical patent/CN110000816B/en
Publication of CN110000816A publication Critical patent/CN110000816A/en
Application granted granted Critical
Publication of CN110000816B publication Critical patent/CN110000816B/en
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/005Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators using batteries, e.g. as a back-up power source
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/0009Constructional details, e.g. manipulator supports, bases

Abstract

The invention discloses a kind of inspection robot New-type charge methods, more particularly to inspection robot field, including robot body and barrier getting over mechanism, the robot body includes first mechanical arm and second mechanical arm, the first mechanical arm and second mechanical arm bottom are equipped with a screw body, tensioning wheel carrier is fixed at the top of the first mechanical arm and second mechanical arm, driving mechanism is fixed at the top of the tensioning wheel carrier and bottom is fixed with electric cylinder, the tensioning wheel carrier two sides are equipped with powered electrode and inductor, the driving mechanism includes upper driving wheel and lower tensioning wheel, limit gap is equipped between the upper driving wheel and lower tensioning wheel.For the present invention when driving two powered electrodes of two sides contact with charging hammer respectively using first mechanical arm and second mechanical arm to charge, the spacing between two powered electrodes is greater than 500mm, avoids charging distance from closely occurring excessively short-circuit.

Description

A kind of inspection robot New-type charge method
Technical field
The present invention relates to inspection robot technical fields, it is more particularly related to which a kind of inspection robot is novel Charging method.
Background technique
Existing inspection robot be using mobile robot as carrier, with visible light camera, infrared thermal imager, its Its detecting instrument is as load system, using machine vision-electromagnetic field-GPS --- and the more information of GIS are merged as robot The navigation system of autonomous and autonomous inspection, the hardware and software development platform using embedded computer as control system;Have Detection of obstacles identification with positioning, AUTONOMOUS TASK planning, active obstacle, to transmission line of electricity and its autonomous inspection of line corridor, patrol Inspection image and the robot body of data are automatically stored to exist with long range radio transmissions, ground remote wireless monitoring and remote control, electric energy The functions such as line feeds in real time, backstage inspection job management and analyzing and diagnosing.
When existing inspection robot working in reciprocating mode, charging is inconvenient, and is easy to be influenced by anti-percussion hammer, and when charging Situations such as two end interfaces are excessively close, are easy to happen short circuit, sparking.
Summary of the invention
In order to overcome the drawbacks described above of the prior art, the embodiment of the present invention provides a kind of inspection robot New-type charge side Method, drives two mechanical arms mobile by screw rod and two mechanical arms drive the charging of powered electrode and two sides hammer to connect respectively Touching, can carry out charging work, guarantee that the spacing between two powered electrodes is greater than 500mm, avoid sending out during the charging process Raw short circuit, generates the situations such as spark.
To achieve the above object, the invention provides the following technical scheme: a kind of inspection robot New-type charge equipment, including Robot body and barrier getting over mechanism, the robot body include first mechanical arm and second mechanical arm, the first mechanical arm It is equipped with a screw body with second mechanical arm bottom, is fixed with tensioning at the top of the first mechanical arm and second mechanical arm Wheel carrier, the tensioning wheel carrier top is fixed with driving mechanism and bottom is fixed with electric cylinder, the tensioning wheel carrier two sides Equipped with powered electrode and inductor, the driving mechanism includes upper driving wheel and lower tensioning wheel, the upper driving wheel and lower tensioning Limit gap is equipped between wheel, the barrier getting over mechanism includes that band, support plate and two charging hammers are sent in side, and it includes straight that band is sent on the side Line bar and curved rod, the straight line pole are movably set in limit gap, and two charging hammers are arranged perpendicular to straight line pole, and One end is fixedly connected by bracket with straight line pole, and the charging hammer other end is fixedly connected by cantilever with support plate, the side Band and support plate is sent to be fixedly connected with anchor support.
In a preferred embodiment, the inductor is specially ultrasonic sensor, infrared sensor or magnetic strength Answer device, the screw body includes guide rail and screw rod, sets that there are two mechanical with first mechanical arm and second respectively on the screw rod The sliding block that arm is fixedly connected, the sliding block inner wall are equipped with the internal screw thread matched with screw rod outer wall thread.
In a preferred embodiment, the upper driving wheel is driven by reversing motor, and the lower tensioning wheel is set as It two and is embedded in tensioning wheel carrier, two lower tensioning wheel both ends are fixed with shaft, and the roller end passes through bearing It is fixedly connected with tensioning wheel carrier, the electric cylinder is fixedly connected with mechanical arm.
In a preferred embodiment, the charging interface of the robot body is connected by conducting wire and powered electrode It connects.
The present invention also provides a kind of inspection robot New-type charge methods, and the specific method is as follows:
Step 1: side, which is sent to take to default, does not install stockbridge damper, and on side firstly, sending band by fixed setting on anchor support It send suitable position on the straight line pole of band to configure two chargings to hammer into shape, send to take due to side and not will be installed stockbridge damper, so robot When side is sent and takes current, powered electrode touches obstacle, judges charging modes;
Step 2: first robot can independent judgment whether enter bypass band section, second when robot body is mechanical After powered electrode on arm strikes charging hammer, electric cylinder drives tensioning wheel carrier to move down, so that entire tensioning wheel carrier drive be made to connect Electrode reduces height automatically, and electric cylinder control tensioning wheel carrier is gone up after first charging hammer across left side, then drives Mechanism drives equipment to move ahead, and after the powered electrode in first mechanical arm strikes first charging hammer, tensioning wheel carrier decline is led to Later go up again, walk on;
Step 3: when the powered electrode in second mechanical arm is after the charging hammer for bumping against right side, at the top of second mechanical arm Driving mechanism stops working, the robot body stop motion on right side, then first mechanical arm inverted running, until striking a left side Interior electrode is hammered in the inner face electrode of side charging hammer, the charging that the powered electrode in first mechanical arm is adjacent to left side at this time into shape, and second is mechanical Powered electrode on arm is adjacent to the interior electrode of the charging hammer on right side, and robot enters charged state at this time.
Technical effect and advantage of the invention:
1, for the present invention by sending band by being arranged on anchor support, side, which is sent to take to default, does not install stockbridge damper, utilizes the first machine Tool arm and second mechanical arm work, robot powered electrode when side is sent and takes current to the right touch obstacle, judge to charge Mode, first robot can independent judgment whether enter bypass band section, when connecing electricity in the second mechanical arm of robot body After electrode strikes charging hammer, electric cylinder drives tensioning wheel carrier to move down, the electric cylinder control after first charging hammer across left side Tensioning wheel carrier processed is gone up, first mechanical arm similarly, when the powered electrode in second mechanical arm is after the charging hammer for bumping against right side, the Two mechanical arms are out of service, then first mechanical arm inverted running, the inner face electrode until striking left side charging hammer, thus machine Device people enters charged state, and robot principle when side is sent and takes current to the left is identical, send the setting of band not only to make using side Anchor support, and two mechanical arms of straight line localization are crossed by robot, it is made accurately to contact charging with two charging hammer out rows, Stockbridge damper is also avoided to the interference in charging judgement;
2, it drives two mechanical arms mobile by screw rod and two mechanical arms drives filling for powered electrode and two sides respectively Electric hammer contact, can carry out charging work, guarantee that the spacing between two powered electrodes is greater than 500mm, avoid charging Short circuit occurs in journey, generates the situations such as spark.
Detailed description of the invention
Fig. 1 is entirety perspective view of the invention.
Fig. 2 is whole main view of the invention.
Fig. 3 is driving mechanism structure schematic diagram of the invention.
Appended drawing reference are as follows: 1 robot body, 2 barrier getting over mechanism send band, 211 straight line poles, 212 curved rods, 22 supports by 21 Plate, 23 charging hammers, 3 first mechanical arms, 4 second mechanical arms, 5 tensioning wheel carriers, 6 driving mechanisms, driving wheel on 61,62 lower are tensioned Between wheel, 63 reversing motors, 7 electric cylinders, 8 powered electrodes, 9 inductors, 10 screw bodies, 101 guide rails, 102 screw rods, 11 limits Gap.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other Embodiment shall fall within the protection scope of the present invention.
Embodiment 1:
A kind of inspection robot New-type charge equipment according to shown in Fig. 1-3, including robot body 1 and barrier getting over mechanism 2, The robot body 1 includes first mechanical arm 3 and second mechanical arm 4,4 bottom of the first mechanical arm 3 and second mechanical arm Equipped with a screw body 10, the first mechanical arm 3 and the top of second mechanical arm 4 are fixed with tensioning wheel carrier 5, and described It is fixed with driving mechanism 6 at the top of bearing up pulley frame 5 and bottom is fixed with electric cylinder 7,5 two sides of tensioning wheel carrier are equipped with and connect electricity Electrode 8 and inductor 9, the driving mechanism 6 include upper driving wheel 61 and lower tensioning wheel 62, the upper driving wheel 61 and lower tensioning Limit gap 11 is equipped between wheel 62, the barrier getting over mechanism 2 includes that band 21, support plate 22 and two charging hammers 23 are sent in side, described It includes straight line pole 211 and curved rod 212 that band 21 is sent on side, and the straight line pole 211 is movably set in limit gap 11, described in two Charging hammer 23 is arranged perpendicular to straight line pole 211, and one end is fixedly connected by bracket with straight line pole 211, and the charging hammer 23 is another One end is fixedly connected by cantilever with support plate 22, and the side send band 21 and support plate 22 to be fixedly connected with anchor support;
The charging interface of the robot body 1 is connect by conducting wire with powered electrode 8.
The present invention also provides a kind of inspection robot New-type charge methods, and the specific method is as follows:
Step 1: side, which is sent to take to default, does not install stockbridge damper 23 firstly, sending band 21 by fixed setting on anchor support, and Suitable position on the straight line pole 211 that band 21 is sent on side configures two chargings and hammers 23 into shape, due to side send not will be installed on band 21 it is shockproof Hammer judges charging modes so robot powered electrode 8 when side send current on band 21 touches obstacle;
Step 2: first robot can independent judgment whether enter bypass band section, second when robot body 1 is mechanical After powered electrode 8 on arm 4 strikes charging hammer 23, electric cylinder 7 drives tensioning wheel carrier 5 to move down, to make entire tensioning wheel carrier 5 Powered electrode 8 is driven to reduce height automatically, electric cylinder 7 controls tensioning wheel carrier 5 and returns after first charging hammer 23 across left side It rises, then driving mechanism 6 drives equipment to move ahead, when the powered electrode 8 in first mechanical arm 3 strikes first charging hammer 23 Afterwards, tensioning wheel carrier 5 declines, and gos up again after, walks on;
Step 3: second mechanical arm 4 is pushed up when the powered electrode 8 in second mechanical arm 4 is after the charging hammer 23 for bumping against right side The driving mechanism 6 in portion stops working, 1 stop motion of robot body on right side, then 3 inverted running of first mechanical arm, until The inner face electrode of left side charging hammer 23 is struck, the powered electrode 8 in first mechanical arm 3 is adjacent in the charging hammer 23 in left side at this time Electrode, the powered electrode 8 in second mechanical arm 4 are adjacent to the interior electrode of the charging hammer 23 on right side, and robot enters charging shape at this time State.
Embodiment 2:
A kind of inspection robot New-type charge equipment according to shown in Fig. 1-3, the inductor 9 are specially supersonic sensing Device, infrared sensor or magnetic inductor can judge to distinguish powered electrode 8 and stockbridge damper, the screw rod by these inductors 9 Mechanism 10 includes guide rail 101 and screw rod 102, set on the screw rod 102 there are two respectively with first mechanical arm 3 and second mechanical arm 4 sliding blocks being fixedly connected, the sliding block inner wall are equipped with the internal screw thread matched with 102 outer wall thread of screw rod, for assisting two Mechanical arm walking avoidance;
A kind of inspection robot New-type charge equipment according to Fig.3, the upper driving wheel 61 are driven by reversing motor 63 Dynamic, the lower tensioning wheel 62 is set as two and is embedded in tensioning wheel carrier 5, and two lower 62 both ends of tensioning wheel are fixed with Shaft, the roller end are fixedly connected by bearing with tensioning wheel carrier 5, and the electric cylinder 7 is fixedly connected with mechanical arm;
First mechanical arm 3 and second mechanical arm 4 drive respectively two powered electrodes 8 of two sides with charging hammer 23 contact into When row charging, the spacing between two powered electrodes 8 is greater than 500mm, avoids charging distance that short circuit closely occurs excessively.
The several points that should finally illustrate are: firstly, in the description of the present application, it should be noted that unless otherwise prescribed and It limits, term " installation ", " connected ", " connection " shall be understood in a broad sense, can be mechanical connection or electrical connection, be also possible to two Connection inside element, can be directly connected, and "upper", "lower", "left", "right" etc. are only used for indicating relative positional relationship, when The absolute position for being described object changes, then relative positional relationship may change;
Secondly: the present invention discloses in embodiment attached drawing, relates only to the structure being related to the embodiment of the present disclosure, other knots Structure, which can refer to, to be commonly designed, and under not conflict situations, the same embodiment of the present invention and different embodiments be can be combined with each other;
Last: the foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, all in the present invention Spirit and principle within, any modification, equivalent replacement, improvement and so on, should be included in protection scope of the present invention it It is interior.

Claims (5)

1. a kind of inspection robot New-type charge equipment, including robot body (1) and barrier getting over mechanism (2), it is characterised in that: institute Stating robot body (1) includes first mechanical arm (3) and second mechanical arm (4), the first mechanical arm (3) and second mechanical arm (4) bottom is equipped with a screw body (10), is fixed with and opens at the top of the first mechanical arm (3) and second mechanical arm (4) Bearing up pulley frame (5), tensioning wheel carrier (5) top is fixed with driving mechanism (6) and bottom is fixed with electric cylinder (7), institute Tensioning wheel carrier (5) two sides are stated equipped with powered electrode (8) and inductor (9), the driving mechanism (6) include upper driving wheel (61) and Lower tensioning wheel (62) is equipped with limit gap (11), the barrier getting over mechanism between the upper driving wheel (61) and lower tensioning wheel (62) (2) include that side send band (21), support plate (22) and two chargings to hammer (23) into shape, the side send with (21) include straight line pole (211) and Curved rod (212), the straight line pole (211) are movably set in limit gap (11), two chargings hammer into shape (23) perpendicular to Straight line pole (211) setting, and one end is fixedly connected by bracket with straight line pole (211), described charging hammer (23) other end passes through Cantilever is fixedly connected with support plate (22), and the side send band (21) and support plate (22) to be fixedly connected with anchor support.
2. a kind of inspection robot New-type charge equipment according to claim 1, it is characterised in that: the inductor (9) Specially ultrasonic sensor, infrared sensor or magnetic inductor, the screw body (10) include guide rail (101) and screw rod (102), the cunning being fixedly connected respectively with first mechanical arm (3) and second mechanical arm (4) there are two being set on the screw rod (102) Block, the sliding block inner wall are equipped with the internal screw thread matched with screw rod (102) outer wall thread.
3. a kind of inspection robot New-type charge equipment according to claim 2, it is characterised in that: the upper driving wheel (61) it is driven by reversing motor (63), the lower tensioning wheel (62) is set as two and is embedded on tensioning wheel carrier (5), two institutes It states lower tensioning wheel (62) both ends and is fixed with shaft, the roller end is fixedly connected by bearing with tensioning wheel carrier (5), described Electric cylinder (7) is fixedly connected with mechanical arm.
4. a kind of inspection robot New-type charge equipment according to claim 3, it is characterised in that: the robot body (1) charging interface is connect by conducting wire with powered electrode (8).
5. a kind of inspection robot New-type charge method, it is characterised in that: the specific method is as follows:
Step 1: side is sent to take to default and not installed stockbridge damper (23) firstly, sending band (21) by fixed setting on anchor support, and Suitable position on the straight line pole (211) that band (21) is sent on side configures two charging hammers (23), and being sent due to side will not on band (21) Stockbridge damper is installed, so robot powered electrode (8) when side send current on band (21) touches obstacle, judges charging modes;
Step 2: first robot can independent judgment whether enter bypass band section, when the second mechanical arm of robot body (1) (4) after the powered electrode (8) on strikes charging hammer (23), electric cylinder (7) drives tensioning wheel carrier (5) to move down, to make entire Tensioning wheel carrier (5) drives powered electrode (8) to reduce height automatically, hammers (23) electric cylinder afterwards into shape in first charging across left side (7) control tensioning wheel carrier (5) is gone up, and then driving mechanism (6) drives equipment to move ahead, when connecing electric electricity on first mechanical arm (3) After pole (8) strikes first charging hammer (23), tensioning wheel carrier (5) decline gos up again after, walks on;
Step 3: when the powered electrode (8) on second mechanical arm (4) is after the charging hammer (23) for bumping against right side, second mechanical arm (4) driving mechanism (6) at the top of stops working, robot body (1) stop motion on right side, and then first mechanical arm (3) is anti- To operation, the inner face electrode of (23) is hammered into shape until striking left side charging, at this time powered electrode (8) patch in first mechanical arm (3) (23) interior electrode is hammered in the charging in tight left side into shape, and the powered electrode (8) in second mechanical arm (4) is adjacent to the interior of the charging hammer (23) on right side Electrode, robot enters charged state at this time.
CN201910305498.5A 2019-04-16 2019-04-16 Novel charging method for inspection robot Active CN110000816B (en)

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