CN110228056B - Electric power insulation manipulator and control method - Google Patents
Electric power insulation manipulator and control method Download PDFInfo
- Publication number
- CN110228056B CN110228056B CN201910476655.9A CN201910476655A CN110228056B CN 110228056 B CN110228056 B CN 110228056B CN 201910476655 A CN201910476655 A CN 201910476655A CN 110228056 B CN110228056 B CN 110228056B
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- Prior art keywords
- knuckle
- imitation
- palm
- rotating
- mechanical fingers
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- 238000009413 insulation Methods 0.000 title claims abstract description 8
- 238000000034 method Methods 0.000 title abstract description 8
- 210000001145 finger joint Anatomy 0.000 claims abstract description 8
- 238000005192 partition Methods 0.000 claims description 6
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to the field of power equipment, in particular to an electric insulation manipulator and a control method, wherein the manipulator comprises a far-end execution end and a near-end operation end; the near-end operation end and the far-end execution end are in wireless communication; the far-end executing end executes mechanical fingers, which are 5 human body finger joint imitation joints, and the root parts of the executing mechanical fingers are rotationally connected with the palm imitation I, and the rotating motor drives the executing mechanical fingers to rotate around the palm imitation I to realize gripping; the proximal operation end includes: the operation mechanical fingers are 5 human body finger joint imitation joints, are corresponding to the execution mechanical fingers, are connected with the palm imitation II through the root parts of the operation mechanical fingers in a rotating way, and respectively drive the corresponding operation mechanical fingers to rotate around the palm imitation II to drive the rotating shafts connected with each operation mechanical finger to rotate.
Description
Technical Field
The invention belongs to the field of power equipment, and particularly relates to an electric insulation manipulator and a control method.
Background
When the electrified equipment is maintained or moved, potential safety hazards exist in the close-range operation due to electrification of the electrified equipment, and the power equipment is higher than the ground to finish the movement of an object, so that the electrified equipment is required to climb on a very high electric tower, the potential safety hazards exist, and meanwhile, the working efficiency can be influenced.
Disclosure of Invention
The invention aims to solve the technical problem of providing an electric insulation manipulator and a control method, which are used for improving safety, realizing the follow-up of the manipulator and the human body according to the action of the human body, and improving the convenience of operation.
The invention is realized in that an electrically insulating manipulator comprises a distal execution end and a proximal operation end; the near-end operation end and the far-end execution end are in wireless communication;
the remote execution end comprises:
the base is fixed on the unmanned aerial vehicle when in use;
A supporting plate fixed on the base,
The rotating arm is rotationally connected with the supporting plate through a bearing, a rotating motor is arranged in a space between the supporting plate and the base, and an output shaft of the rotating motor is connected with the rotating arm to drive the rotating arm to rotate 360 degrees;
the palm imitation I is fixed at the end part of the rotating arm;
the executing mechanical fingers are 5 human body finger joint imitation joints, the root parts of the executing mechanical fingers are rotationally connected with the palm imitation I, and the rotating motor drives the executing mechanical fingers to rotate around the palm imitation I to realize gripping;
the output end of the controller I is connected with the rotating motor of the near-end operation end, and the rotating angle of the output shaft of the rotating motor is controlled;
the wireless communication module I is connected with the controller I and is communicated with the near-end operation end;
the proximal operation end includes:
Palm imitation II;
The operation mechanical fingers are 5 human body imitation finger joints, correspond to the execution mechanical fingers, are rotationally connected with the imitation palm II through the root parts of the operation mechanical fingers, and respectively drive the corresponding operation mechanical fingers to rotate around the imitation palm II to drive the rotating shafts connected with each operation mechanical finger to rotate;
an angle sensor for measuring the rotation angle of the rotating shaft connected with each operation mechanical finger;
The gyroscope is used for detecting the rotation of the simulated palm II;
the controller II is connected with the angle sensor and the gyroscope;
And the wireless communication module II is connected with the controller II to transmit the data measured by the angle sensor and the gyroscope to the near-end operation end.
Further, the remote execution end includes:
The rotating arm comprises a frame, 5 motors are arranged in the frame, each motor controls one executing mechanical finger, a disc is arranged at the end part of an output shaft of each motor, one end of a connecting rod is rotatably connected to the edge of the disc, and the other end of the connecting rod is rotatably connected to the root part of the executing mechanical finger.
Further, the executing mechanical finger comprises a knuckle I, a knuckle II and a knuckle III, wherein the knuckle III is respectively connected with the palm imitation I and the connecting rod through two sides of the root; the knuckle I, the knuckle II and the knuckle III are respectively connected in a rotating way; the lower end part of the knuckle II is rotationally connected to the palm-like I through a connecting sheet I; the knuckle I and the knuckle III are connected through the connecting sheet II in a rotating mode, and the connecting rod is driven to move up and down when the disc rotates, so that the knuckle I, the knuckle II and the knuckle III are driven to be gripped.
Further, a partition plate is arranged between the palm imitation I and the rotating arm, and 5 holes are formed in the partition plate and correspondingly penetrate through 5 connecting rods.
Further, the root parts of the corresponding operation mechanical fingers of the simulated palm II are respectively provided with a mounting plate perpendicular to the simulated palm II, and the root parts of the operation mechanical fingers are rotationally connected with the mounting plates.
Further, the operation robot finger includes:
The first knuckle, the second knuckle and the third knuckle are rotationally connected with a connecting rod through the root part, the other end of the connecting rod is connected to a rotating shaft, and the rotating shaft is driven to rotate through the connecting rod; the first knuckle is rotationally connected with the second knuckle, the second knuckle is rotationally connected with the third knuckle, a tension spring is arranged between the first knuckle and the third knuckle, and a flexible lantern ring is arranged at the end part of the first knuckle.
A control method of an electric insulation manipulator comprises the following steps:
initializing, and executing the whole unfolding of the mechanical fingers;
The gyroscope detects and detects rotation information of the imitation palm II, information is sent to the controller I through the controller II, and the controller I controls the rotation motor driving the rotation arm to rotate by a corresponding angle in a corresponding direction according to the detected information;
the angle sensor detects the rotating angle of the rotating shaft connected with each operation mechanical finger and sends the rotating angle to the controller I through the controller II;
the controller I controls the corresponding motor for executing the mechanical finger to rotate by a corresponding angle, and the follow-up of the mechanical finger and the operation mechanical finger is completed.
Further, the controller II encodes 5 angle sensors and corresponds to different operation mechanical fingers, the controller I establishes a corresponding relation between the operation mechanical fingers and the execution mechanical fingers, angle data detected by the 5 angle sensors are sent to the controller I according to the time sequence of the actions, and the controller I sequentially controls the execution mechanical fingers according to the time according to the received angle information.
Compared with the prior art, the invention has the beneficial effects that:
According to the invention, remote control with a human hand is realized through the far-end execution end and the near-end operation end, and the joints of the human body are controlled through the motor, so that the invention has strong gripping force, and the safety and the operation flexibility are improved.
The method of the invention realizes remote control, realizes the follow-up of the remote execution end and the near operation end, can timely transmit data, and converts human body actions into actions of the manipulator.
Drawings
Fig. 1 is a schematic structural diagram of a remote execution end according to an embodiment of the present invention;
FIG. 2 is a schematic side view of a distal end of the present invention;
FIG. 3 is a schematic view of a proximal operation end according to an embodiment of the present invention;
FIG. 4 is a control circuit of a remote execution end according to an embodiment of the present invention;
Fig. 5 is a control circuit of a near-end operation terminal according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the following examples in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Referring to fig. 1 in combination with fig. 2 and 3, an electrically insulating manipulator includes a distal actuating end and a proximal operating end; the near-end operation end and the far-end execution end are in wireless communication;
the remote execution end comprises:
A base 101 which is fixed to the unmanned aerial vehicle in use;
the support plate is fixed on the base, the support plate is of a three-layer structure, a motor is arranged between the bottom layer 102 and the base 101, an output shaft of the motor vertically protrudes between the middle layer 103 and the bottom layer 102 with the base, a bearing is arranged between the top layer 104 and the middle layer 103, and the top layer is hollow annular.
The rotating arm 105 is rotationally connected with the supporting plate through a bearing, a rotating motor is arranged in a space between the supporting plate and the base, and an output shaft 119 of the rotating motor is connected with the rotating arm to drive the rotating arm to rotate 360 degrees; the bottom of the rotating arm is connected with the output shaft of the motor and then can rotate under the cooperation of the bearing.
Palm-like I108 is fixed at the end of the rotating arm.
The executing mechanical fingers are 5 human body finger joint imitation joints, the root parts of the executing mechanical fingers are rotationally connected with the palm imitation I108, and the rotating motor drives the executing mechanical fingers to rotate around the palm imitation I to realize gripping;
The remote execution end comprises: the rotating arm comprises a frame 105, 5 motors 106 are arranged in the frame, each motor controls one executing mechanical finger, a disc 117 is arranged at the end part of an output shaft of each motor, one end of a connecting rod 115 is rotatably connected to the edge of the disc 117, and the other end of the connecting rod 115 is rotatably connected to the root part of the executing mechanical finger.
The executing mechanical finger comprises a knuckle I114, a knuckle II113 and a knuckle III112, wherein the knuckle III112 is respectively connected with an imitation palm I and a connecting rod 115 through two sides of the root; the knuckle I114, the knuckle II113 and the knuckle III112 are respectively connected in a rotating way; the lower end part of the knuckle II113 is rotatably connected with a vertical plate 109 on the palm-like I108 through a connecting sheet I110; the knuckle I114 and the knuckle III112 are rotationally connected through the connecting piece II118, and the disc 117 drives the connecting rod to move downwards and upwards when rotating so as to drive the knuckle I, the knuckle II and the connecting piece I of the knuckle III to rotate, so that the mechanical finger can rotate around the joint, and the same gripping action as a human body can be realized.
A partition plate 107 is arranged between the palm-like I108 and the rotating arm, and 5 holes are formed in the partition plate and correspondingly penetrate through 5 connecting rods 115.
A circuit board 116 of a control circuit is mounted on the base 101. Referring to fig. 4, the control circuit includes a controller I, an output end of which is connected to the rotating motor of the proximal operation end, and controls a rotation angle of an output shaft of the rotating motor; the robot has 6 rotating motors, one of which is responsible for rotating the arm, and the rest is used for driving 5 executing mechanical fingers to act. The device comprises a wireless communication module I, wherein the wireless communication module I is connected with the controller I and is communicated with the near-end operation end.
Referring to fig. 3, the proximal operation end includes:
Palm-like II203 is mounted on base 201,
The operation mechanical fingers are 5 human body finger joint imitation joints, are corresponding to the execution mechanical fingers, are rotationally connected with the palm imitation II203 through the root parts of the operation mechanical fingers, and respectively drive the corresponding operation mechanical fingers to rotate around the palm imitation II203 so as to drive the rotating shafts 212 connected with each operation mechanical finger to rotate; the root parts of the corresponding operation mechanical fingers of the imitation palm II203 are respectively provided with a mounting plate 204 vertical to the imitation palm II, and the root parts of the operation mechanical fingers are rotatably connected with the mounting plates 205. The operation mechanical finger comprises a first knuckle 208, a second knuckle 209 and a third knuckle 206, wherein the third knuckle 206 is rotationally connected with a connecting rod 211 through the root part, the other end of the connecting rod 211 is connected to a rotating shaft 212, and the rotating shaft 212 is driven to rotate through the connecting rod 211; the first knuckle 208 is rotatably connected with the second knuckle 209, the second knuckle 209 and the third knuckle 210 are rotatably connected, a tension spring 210 is arranged between the first knuckle 208 and the third knuckle 210, and a flexible collar 207 is arranged at the end part of the first knuckle 208. When the device is used, the finger is sleeved into the lantern ring, and the rotating angle is measured through the angle sensor after the mechanical finger is driven to act along with the action of a human hand. And detecting the rotation of the simulated palm II through a gyroscope.
Referring to the circuit board 202 of the control circuit of the proximal operation end of the drawing, the mounting on the palm-like II includes:
The angle sensor 204 is installed at the bottom of the rotating shaft 212 and is used for respectively measuring the rotating angle of the rotating shaft connected with each operation mechanical finger for 5 times;
The gyroscope is used for detecting the rotation of the simulated palm II;
the controller II is connected with the angle sensor and the gyroscope;
And the wireless communication module II is connected with the controller II to transmit the data measured by the angle sensor and the gyroscope to the near-end operation end.
The gyroscope detects and detects rotation information of the imitation palm II, information is sent to the controller I through the controller II, and the controller I controls the rotation motor driving the rotation arm to rotate by a corresponding angle in a corresponding direction according to the detected information;
the angle sensor detects the rotating angle of the rotating shaft connected with each operation mechanical finger and sends the rotating angle to the controller I through the controller II;
the controller I controls the corresponding motor for executing the mechanical finger to rotate by a corresponding angle, and the follow-up of the mechanical finger and the operation mechanical finger is completed.
A control method of an electric insulation manipulator comprises the following steps:
initializing, and executing the whole unfolding of the mechanical fingers;
The gyroscope detects and detects rotation information of the imitation palm II, information is sent to the controller I through the controller II, and the controller I controls the rotation motor driving the rotation arm to rotate by a corresponding angle in a corresponding direction according to the detected information;
the angle sensor detects the rotating angle of the rotating shaft connected with each operation mechanical finger and sends the rotating angle to the controller I through the controller II;
the controller I controls the corresponding motor for executing the mechanical finger to rotate by a corresponding angle, and the follow-up of the mechanical finger and the operation mechanical finger is completed.
The controller II encodes 5 angle sensors and corresponds to different operation mechanical fingers, the controller I establishes a corresponding relation between the operation mechanical fingers and the execution mechanical fingers, angle data detected by the 5 angle sensors are sent to the controller I according to the time sequence of the actions, and the controller I sequentially controls the actions of the execution mechanical fingers according to the time according to the received angle information.
The controller II is provided with 5 independent data transmission channels, and the channels are not mutually influenced. When one finger continuously moves, the movement of the other fingers is not influenced. Can follow-up with fingers of human body in time in real time.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (1)
1. An electric insulation manipulator is characterized by comprising a far-end execution end and a near-end operation end; the near-end operation end and the far-end execution end are in wireless communication;
the remote execution end comprises:
the base is fixed on the unmanned aerial vehicle when in use;
A supporting plate fixed on the base,
The rotating arm is rotationally connected with the supporting plate through a bearing, a rotating motor is arranged in a space between the supporting plate and the base, and an output shaft of the rotating motor is connected with the rotating arm to drive the rotating arm to rotate 360 degrees;
the palm imitation I is fixed at the end part of the rotating arm;
the executing mechanical fingers are 5 human body finger joint imitation joints, the root parts of the executing mechanical fingers are rotationally connected with the palm imitation I, and the rotating motor drives the executing mechanical fingers to rotate around the palm imitation I to realize gripping;
The output end of the controller I is connected with the rotating motor of the near-end operation end, and the rotating angle of the output shaft of the rotating motor is controlled;
the wireless communication module I is connected with the controller I and is communicated with the near-end operation end;
the proximal operation end includes:
Palm imitation II;
The operation mechanical fingers are 5 human body imitation finger joints, correspond to the execution mechanical fingers, are rotationally connected with the imitation palm II through the root parts of the operation mechanical fingers, and respectively drive the corresponding operation mechanical fingers to rotate around the imitation palm II to drive the rotating shafts connected with each operation mechanical finger to rotate;
an angle sensor for measuring the rotation angle of the rotating shaft connected with each operation mechanical finger;
The gyroscope is used for detecting the rotation of the simulated palm II;
the controller II is connected with the angle sensor and the gyroscope;
The wireless communication module II is connected with the controller II to transmit the data measured by the angle sensor and the gyroscope to a near-end operation end;
the rotating arm comprises a frame, 5 motors are arranged in the frame, each motor controls one executing mechanical finger, a disc is arranged at the end part of an output shaft of each motor, one end of a connecting rod is rotatably connected to the edge of the disc, and the other end of the connecting rod is rotatably connected to the root part of the executing mechanical finger;
The executing mechanical finger comprises a knuckle I, a knuckle II and a knuckle III, wherein the knuckle III is respectively connected with an imitation palm I and a connecting rod through two sides of the root; the knuckle I, the knuckle II and the knuckle III are respectively connected in a rotating way; the lower end part of the knuckle II is rotationally connected to the palm-like I through a connecting sheet I; the knuckle I and the knuckle III are rotationally connected through the connecting sheet II, and the connecting rod is driven to move up and down when the disc rotates so as to drive the knuckle I, the knuckle II and the knuckle III to be gripped;
A partition plate is arranged between the palm imitation I and the rotating arm, and 5 holes are formed in the partition plate and correspondingly penetrate through 5 connecting rods;
The root of the operation mechanical finger corresponding to the palm imitation II is respectively provided with a mounting plate vertical to the palm imitation II, and the root of the operation mechanical finger is rotationally connected with the mounting plate;
The operation mechanical finger comprises
The first knuckle, the second knuckle and the third knuckle are rotationally connected with a connecting rod through the root part, the other end of the connecting rod is connected to a rotating shaft, and the rotating shaft is driven to rotate through the connecting rod; the first knuckle is rotationally connected with the second knuckle, the second knuckle is rotationally connected with the third knuckle, a tension spring is arranged between the first knuckle and the third knuckle, and a flexible lantern ring is arranged at the end part of the first knuckle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910476655.9A CN110228056B (en) | 2019-06-03 | 2019-06-03 | Electric power insulation manipulator and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910476655.9A CN110228056B (en) | 2019-06-03 | 2019-06-03 | Electric power insulation manipulator and control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110228056A CN110228056A (en) | 2019-09-13 |
| CN110228056B true CN110228056B (en) | 2024-04-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910476655.9A Active CN110228056B (en) | 2019-06-03 | 2019-06-03 | Electric power insulation manipulator and control method |
Country Status (1)
| Country | Link |
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| CN (1) | CN110228056B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105150188A (en) * | 2015-10-10 | 2015-12-16 | 花茂盛 | System and method for controlling actions of robot |
| CN108406772A (en) * | 2018-04-13 | 2018-08-17 | 郑州东青信息科技有限公司 | A kind of more induction bionic mechanical hands based on gesture identification |
| CN108705550A (en) * | 2018-04-13 | 2018-10-26 | 郑州东青信息科技有限公司 | A kind of bionic mechanical hand of gesture identification |
| CN208697422U (en) * | 2018-04-13 | 2019-04-05 | 王森龙 | A kind of bionic mechanical hand of gesture identification |
| CN210307803U (en) * | 2019-06-03 | 2020-04-14 | 孟繁丞 | Electric power insulation manipulator |
-
2019
- 2019-06-03 CN CN201910476655.9A patent/CN110228056B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105150188A (en) * | 2015-10-10 | 2015-12-16 | 花茂盛 | System and method for controlling actions of robot |
| CN108406772A (en) * | 2018-04-13 | 2018-08-17 | 郑州东青信息科技有限公司 | A kind of more induction bionic mechanical hands based on gesture identification |
| CN108705550A (en) * | 2018-04-13 | 2018-10-26 | 郑州东青信息科技有限公司 | A kind of bionic mechanical hand of gesture identification |
| CN208697422U (en) * | 2018-04-13 | 2019-04-05 | 王森龙 | A kind of bionic mechanical hand of gesture identification |
| CN210307803U (en) * | 2019-06-03 | 2020-04-14 | 孟繁丞 | Electric power insulation manipulator |
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| Publication number | Publication date |
|---|---|
| CN110228056A (en) | 2019-09-13 |
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Effective date of registration: 20240315 Address after: 111000, 1st floor, No. 106-19 Nanhuan Street, Baita District, Liaoyang City, Liaoning Province Applicant after: Liaoning Huanrui Technology Co.,Ltd. Country or region after: China Address before: No.16-16-3, No. 69 Bei'er Road, Shenyang City, Liaoning Province, 110000 Applicant before: Meng Fancheng Country or region before: China |
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