CN110788831B - Rail-moving type large-arm exhibition robot - Google Patents
Rail-moving type large-arm exhibition robot Download PDFInfo
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- CN110788831B CN110788831B CN201910961892.4A CN201910961892A CN110788831B CN 110788831 B CN110788831 B CN 110788831B CN 201910961892 A CN201910961892 A CN 201910961892A CN 110788831 B CN110788831 B CN 110788831B
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- arm
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- revolute pair
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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Abstract
The invention discloses a rail-moving type large-arm exhibition robot, which comprises a rail, a rail-moving type carrying platform which is arranged on the rail and can walk on the rail, wherein the lower part of the rail-moving type carrying platform is connected with a vertical lifting mechanism through a revolute pair, the lower end of the vertical lifting mechanism is connected with a moving platform through a revolute pair, the bottom of the moving platform is connected with a tail end mechanical arm through a revolute pair, the tail end mechanical arm is connected with a tail end executor through a revolute pair, and a carrying platform driving device, a vertical lifting mechanism driving device, a power supply module, a control module and a sensor assembly are arranged on the rail-moving type carrying; and a tail end mechanical arm driving device is arranged on the movable platform. The invention has simple structure, has the advantage of being suitable for complex working environment, and is very suitable for occasions with large working space range and complex working environment.
Description
The technical field is as follows:
the invention relates to a rail-moving type large-arm exhibition robot, and belongs to the technical field of robots.
Background art:
in the construction process of modern cities, a large number of underground facilities such as underground rail transit, power transmission tunnels, communication tunnels and the like are constructed, and the underground facilities have a common characteristic that the underground facilities all contain tunnels. In order to ensure safety in the tunnel, the worker needs to regularly patrol the tunnel. The inspection frequency of important tunnels and tunnels which are easy to break down needs to be very high, and a large amount of manpower and material resources are consumed. The tunnel inspection contents mainly comprise the inspection of the running conditions of various devices in the tunnel and accessory facilities such as tunnel ventilation, illumination, drainage, fire-fighting equipment and the like, and the temperature, grounding current and the like of a cable joint in the tunnel are required to be measured for the power transmission tunnel. At present, tunnel inspection mainly depends on manual inspection, and efficiency is low. And underground tunnel often is very long, and the manual work is patrolled and examined and is consumed long, and the environment in the tunnel is relatively poor, and unexpected trouble probably appears in the equipment operation in the tunnel, threatens to the staff's personal safety in the tunnel.
If can be through a robot, replace the workman to accomplish the work of patrolling and examining in the tunnel to through the sensor, carry out real-time detection to some parameters, and show on the host computer in real time, then can alleviate staff's work load, and also safe and reliable more. At present, tunnel inspection robots in the market basically only have a function of walking along a track, but do not have mechanical arm parts which can be close to other devices and transmission cables in a tunnel, so that the tunnel inspection robots can only monitor the temperature and the humidity in the tunnel and the internal environment through sensors, but cannot be close to the devices in the tunnel for detection and operation, and the detection of the mechanical arm parts needs manual operation.
The invention content is as follows:
the invention aims to provide a rail-moving type large-arm exhibition robot aiming at the existing problems, solves the problems that the inspection items of the existing tunnel inspection robot are not comprehensive, and the detection of various parameters of equipment and cables in the tunnel still needs manual intervention, and realizes the automation of various detections in the tunnel.
The above object of the present invention can be achieved by the following technical solutions:
a rail-moving type large-arm unfolding robot comprises a rail, a rail-moving type carrying platform which is arranged on the rail and can walk on the rail, wherein the lower part of the rail-moving type carrying platform is connected with a vertical lifting mechanism through a revolute pair, the lower end of the vertical lifting mechanism is connected with a moving platform through a revolute pair, the bottom of the moving platform is connected with an end mechanical arm through a revolute pair, the end mechanical arm is connected with an end actuator through a revolute pair, and a carrying platform driving device, a vertical lifting mechanism driving device, a power supply module, a control module and a sensor assembly are arranged on the rail-moving type carrying platform; and a tail end mechanical arm driving device is arranged on the movable platform.
The portable big arm exhibition robot of track, rail mounted delivery platform includes the delivery platform frame, delivery platform drive arrangement is including installing four on the delivery platform frame can the delivery platform drive wheel of track the inside walking, the delivery platform drive wheel pass through the hold-in range with delivery platform driving motor on the delivery platform frame is connected.
The portable big arm exhibition robot of track, vertical lift mechanism drive arrangement is including installing vertical lift mechanism driving motor on the delivery platform frame, vertical lift mechanism driving motor passes through the vertical lift mechanism hold-in range and connects the big arm connecting rod drive shaft of initiative, the big arm connecting rod drive shaft of initiative drives the big arm connecting rod drive shaft passively through alternately synchronous rope, the big arm connecting rod drive shaft of initiative with the big arm connecting rod drive shaft passively is all installed through the revolute pair on the delivery platform frame.
The track-moving type large-arm unfolding robot is characterized in that the vertical lifting mechanism comprises two groups of parallel scissor mechanism assemblies, the upper ends and the lower ends of the two groups of parallel scissor mechanism assemblies are respectively connected to the track-type carrying platform and the movable platform through revolute pairs, and each group of parallel scissor mechanism assemblies comprises a large-arm connecting rod, a small-arm connecting rod, an angle connecting piece, a large-arm parallel connecting rod, a small-arm parallel connecting rod and a parallel shaft; one end of the large arm connecting rod is fixedly connected with the large arm connecting rod driving shaft, the other end of the large arm connecting rod is connected with the angle connecting piece through a revolute pair, one end of the small arm connecting rod is connected with the angle connecting piece through a revolute pair, and the other end of the small arm connecting rod is connected with the movable platform through a revolute pair; one end of the large arm parallel connecting rod is connected with the carrying platform frame through a revolute pair, the other end of the large arm parallel connecting rod is connected with the angle connecting piece through a revolute pair, one end of the small arm parallel connecting rod is connected with the angle connecting piece through a revolute pair, and the other end of the small arm parallel connecting rod is connected with the movable platform through a revolute pair; the angle connecting pieces in the middle of the two groups of parallel scissors mechanism components are connected by a revolute pair through parallel shafts.
The track-moving type large-arm unfolding robot is characterized in that the tail end mechanical arm assembly comprises a large joint type mechanical arm and a small joint type mechanical arm, one end of the large joint type mechanical arm is connected with the movable platform through a revolute pair, the other end of the large joint type mechanical arm is connected with the small joint type mechanical arm through a revolute pair, one end of the small joint type mechanical arm is connected with the large joint type mechanical arm through the revolute pair, and the other end of the small joint type mechanical arm is connected with the tail end actuator through the revolute pair.
The track-moving type large-arm unfolding robot is characterized in that the tail end mechanical arm driving device comprises a tail end mechanical arm driving motor, a driving rope, a pulley block and a load wheel which are arranged on the movable platform, one end of the driving rope is fixedly connected with the tail end mechanical arm driving motor driving wheel, and the other end of the driving rope is arranged on the joint type mechanical arm small arm and the pulley block on the joint type mechanical arm large arm in a bypassing manner and is connected onto the load wheel fixedly connected with each joint driving shaft.
Has the advantages that:
the traveling mechanism of the rail-moving type large-arm spread robot adopts a rail type, and the robot has high traveling speed, stable operation and simple and reliable structure;
the invention adopts the vertical lifting mechanism to realize the large-scale vertical lifting movement of the robot, and the mode has better structural rigidity and simple and reliable design of a control system;
the tail end of the mechanical arm adopts the joint type mechanical arm to realize the adjustment of the position and the posture of the end effector in a small range, has compact structure and flexible movement, and can adapt to more complex working environment;
the whole mechanical arm adopts a structural form of a lifting moving mechanism and a joint type mechanical arm, the working space range of the mode is large, the posture of the whole mechanical arm is flexibly adjusted, the efficiency is high, and the mechanical arm is suitable for a complex working environment.
The joint type mechanical arm adopts a rope and pulley transmission mode, and the mechanical arm driving motor is placed on the movable platform, so that the weight of the mechanical arm is reduced, the inertia moment and the load are reduced, and the control of the mechanical arm is facilitated. The telescopic range of the vertical lifting mechanism reaches more than 1800mm, and the horizontal movement range of the tail end of the joint type mechanical arm with the movable platform as the origin is 0-1360 mm.
Description of the drawings:
FIG. 1 is an overall perspective view of the present invention;
FIG. 2 is a front view of the track type carrier platform;
FIG. 3 is a bottom view of the tracked carrier platform;
FIG. 4 is a schematic view of a joint type robot arm drive cable;
FIG. 5 is a schematic view of a robot applied to tunnel inspection;
fig. 6 (a) (b) are respectively the working schematic diagrams of the robot applied to cable tunnel inspection and underground traffic tunnel inspection.
The specific implementation mode is as follows:
the invention is described in further detail below with reference to the figures and the specific embodiments.
As shown in fig. 1-5, a structure of a track-moving type large-arm spread robot includes a track 1, a track-moving type carrying platform 2, a carrying platform frame 21, a carrying platform driving wheel 22, a carrying platform driving motor 23, a synchronous belt 24, a power module and control module 25, a sensor assembly 26, a vertical lifting mechanism 3, a large arm connecting rod 31, a small arm connecting rod 32, an angle connecting piece 33, a large arm parallel connecting rod 34, a small arm parallel connecting rod 35, a parallel shaft 36, a vertical lifting mechanism driving motor 37, a vertical lifting mechanism synchronous belt 38, a cross synchronous rope 39, a driving large arm connecting rod driving shaft 310, a driven large arm connecting rod driving shaft 311, a movable platform 4, a joint type mechanical arm 5, a joint type mechanical arm large arm 51, a joint type mechanical arm small arm 52, a rope transmission system 53, a driving rope 531, a pulley block 532, a load wheel 533, a joint driving shaft 54 and an end effector 6.
As shown in fig. 1, the end effector 6 is connected to one end of a small arm 52 of a joint type mechanical arm through a revolute pair, the other end of the small arm 52 of the joint type mechanical arm is connected to one end of a large arm 51 of the joint type mechanical arm through a revolute pair, the other end of the large arm 51 of the joint type mechanical arm is connected to the movable platform 4 through a revolute pair, the movable platform 4 is connected to the vertical lifting mechanism 3 through a revolute pair, and the other end of the vertical lifting mechanism 3 is connected to the rail type carrying platform 2 through a revolute pair. Four carrying platform driving wheels 22 are installed on the rail type carrying platform 2, and the carrying platform driving wheels 22 are arranged on the rail 1 and drive the robot to run on the rail 1.
As shown in fig. 2-3, the tracked carrier platform 2 includes a carrier platform frame 21, carrier platform drive wheels 22, carrier platform drive motors 23, timing belts 24, a power and control module 25, and a sensor assembly 26. The carrying platform driving motor 23, the vertical lifting mechanism driving motor 37, the power module, the control module 25 and the environmental sensor assembly 26 are fixedly connected to the carrying platform frame 21, the carrying platform driving motor 23 transmits power to the carrying platform driving wheel 22 through the synchronous belt 24 to drive the whole inspection robot to move, the vertical lifting mechanism driving motor 37 drives the driving large arm connecting rod driving shaft 310 and the driven large arm connecting rod driving shaft 311 to move through the vertical lifting mechanism synchronous belt 38 and the crossed synchronous rope 39, the driving large arm connecting rod driving shaft 310 and the driven large arm connecting rod driving shaft 311 are connected with the carrying platform frame 21 through revolute pairs, and the driving large arm connecting rod driving shaft 310 is fixedly connected with the large arm connecting rod 31.
As shown in fig. 1, the vertical lift mechanism 3 includes a vertical lift mechanism driving motor 37, a vertical lift mechanism synchronous belt 38, a cross synchronous rope 39, a driving big arm link driving shaft 310, a driven big arm link driving shaft 311, and two sets of parallel scissors mechanism components, two ends of the parallel mechanisms components are respectively connected to the track type carrying platform 2 and the moving platform 4 through revolute pairs, and a driving source of the parallel mechanisms components is derived from the vertical lift mechanism driving motor 37 installed on the track type carrying platform 2. The parallel scissor mechanism assembly comprises a large arm connecting rod 31, a small arm connecting rod 32, an angle connecting piece 33, a large arm parallel connecting rod 34, a small arm parallel connecting rod 35 and a parallel shaft 36, wherein one end of the large arm connecting rod 31 is fixedly connected with a driving large arm connecting rod driving shaft 310, the other end of the large arm connecting rod is connected with the angle connecting piece 33 through a revolute pair, one end of the small arm connecting rod 32 is connected with the angle connecting piece 33 through a revolute pair, and the other end of the small arm connecting rod is connected with the movable platform 4 through. One end of the large arm parallel connecting rod 34 is connected with the carrying platform frame 21 through a revolute pair, the other end is connected with the angle connecting piece 33 through a revolute pair, one end of the small arm parallel connecting rod 35 is connected with the angle connecting piece 33 through a revolute pair, and the other end is connected with the movable platform 4 through a revolute pair. The middle joints of the two groups of parallel mechanisms are connected by a revolute pair through parallel shafts 36.
Three mechanical arm driving motor assemblies are arranged inside the movable platform 4, one end of the movable platform 4 is connected with the vertical lifting mechanism 3 through a revolute pair, and the other end of the movable platform is connected with the joint type mechanical arm large arm 51 through a revolute pair.
As shown in fig. 4, the joint type robot 5 includes a joint type robot arm 51, a joint type robot arm forearm 52, a rope transmission system 53, and a joint drive shaft 54, one end of the joint type robot arm 51 is connected to the movable platform 4 through a revolute pair, the other end is connected to one end of the joint type robot arm 52 through a revolute pair, and the other end of the joint type robot arm 52 is connected to the end effector 6 through a revolute pair. The rope transmission system 53 penetrates the joint type mechanical arm 5, and transmits the power of the driving motor in the movable platform to each joint. The end mechanical arm driving device comprises an end mechanical arm driving motor, a driving rope 531, a pulley block 532 and a load wheel 533 which are arranged on the movable platform 4, wherein one end of the driving rope 531 is fixedly connected with the driving wheel of the end mechanical arm driving motor, and the other end of the driving rope 531 is connected to the load wheel 533 fixedly connected with each joint driving shaft 54 by bypassing the pulley block 532 arranged on the joint type mechanical small arm 52 and the joint type mechanical big arm 51.
When the robot is applied to tunnel inspection work, as shown in fig. 5-6, the robot needs to complete detection and simple maintenance work of temperature, humidity and other parameters of electrical equipment needing contact detection in a tunnel. Need lay track 1 and installation several wireless communication basic station 8 and induction type charging station 9 in tunnel 7 in advance to when the robot working process battery power is not enough, independently look for electric pile of filling nearby, realize the communication between autonomic charging function and robot and the host computer.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. It will be readily apparent to those skilled in the art that various modifications to these embodiments may be made, and the generic principles described herein may be applied to other embodiments without the use of the inventive faculty. Therefore, the present invention is not limited to the embodiments described herein, and those skilled in the art should make improvements and modifications within the scope of the present invention based on the disclosure of the present invention.
Claims (1)
1. A rail-moving type large-arm robot for exhibition is characterized by comprising a rail, a rail-moving type carrying platform which is arranged on the rail and can walk on the rail, wherein the lower part of the rail-moving type carrying platform is connected with a vertical lifting mechanism through a revolute pair, the lower end of the vertical lifting mechanism is connected with a moving platform through a revolute pair, the bottom of the moving platform is connected with a joint type mechanical arm through a revolute pair, the joint type mechanical arm is connected with an end effector through a revolute pair, and a carrying platform driving device, a vertical lifting mechanism driving device, a power supply module, a control module and a sensor assembly are arranged on the rail-moving type carrying platform; a tail end mechanical arm driving device is mounted on the movable platform;
the vertical lifting mechanism comprises two groups of parallel scissor mechanism assemblies, the upper ends and the lower ends of the two groups of parallel scissor mechanism assemblies are respectively connected to the rail type carrying platform and the movable platform through revolute pairs, and each group of parallel scissor mechanism assemblies comprises a large arm connecting rod, a small arm connecting rod, an angle connecting piece, a large arm parallel connecting rod, a small arm parallel connecting rod and a parallel shaft; one end of the large arm connecting rod is fixedly connected with the large arm connecting rod driving shaft, the other end of the large arm connecting rod is connected with the angle connecting piece through a revolute pair, one end of the small arm connecting rod is connected with the angle connecting piece through a revolute pair, and the other end of the small arm connecting rod is connected with the movable platform through a revolute pair; one end of the large arm parallel connecting rod is connected with the carrying platform frame through a revolute pair, the other end of the large arm parallel connecting rod is connected with the angle connecting piece through a revolute pair, one end of the small arm parallel connecting rod is connected with the angle connecting piece through a revolute pair, and the other end of the small arm parallel connecting rod is connected with the movable platform through a revolute pair; the angle connecting pieces in the middle of the two groups of parallel scissor mechanism components are connected through parallel shafts by revolute pairs;
the joint type mechanical arm comprises a joint type mechanical arm large arm, a joint type mechanical arm small arm and a rope transmission system, wherein one end of the joint type mechanical arm large arm is connected with the movable platform through a revolute pair, the other end of the joint type mechanical arm large arm is connected with the joint type mechanical arm small arm through a revolute pair, one end of the joint type mechanical arm small arm is connected with the joint type mechanical arm large arm through a revolute pair, and the other end of the joint type mechanical arm small arm is connected with the end effector through a revolute pair; the rope transmission system penetrates through the interior of the joint type mechanical arm and transmits the power of the driving motor in the movable platform to each joint of the joint type mechanical arm;
the tail end mechanical arm driving device comprises a tail end mechanical arm driving motor, a driving rope, a pulley block and a load wheel which are arranged on the movable platform, one end of the driving rope is fixedly connected with the tail end mechanical arm driving motor driving wheel, the other end of the driving rope is connected to the load wheel which is fixedly connected with a joint driving shaft by bypassing the pulley block arranged on the joint type mechanical arm small arm and the joint type mechanical arm large arm, and the joint driving shaft is a joint driving shaft corresponding to a revolute pair between the joint type mechanical arm small arm and the tail end actuator;
the rail type carrying platform comprises a carrying platform frame, the carrying platform driving device comprises four carrying platform driving wheels which are arranged on the carrying platform frame and can walk in the rail, and the carrying platform driving wheels are connected with a carrying platform driving motor on the carrying platform frame through synchronous belts;
the vertical lifting mechanism driving device comprises a vertical lifting mechanism driving motor installed on the carrying platform frame, the vertical lifting mechanism driving motor is connected with a driving large arm connecting rod driving shaft through a vertical lifting mechanism synchronous belt, the driving large arm connecting rod driving shaft drives a driven large arm connecting rod driving shaft through a crossed synchronous rope, and the driving large arm connecting rod driving shaft and the driven large arm connecting rod driving shaft are installed on the carrying platform frame through a revolute pair.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910961892.4A CN110788831B (en) | 2019-10-11 | 2019-10-11 | Rail-moving type large-arm exhibition robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910961892.4A CN110788831B (en) | 2019-10-11 | 2019-10-11 | Rail-moving type large-arm exhibition robot |
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| CN110788831A CN110788831A (en) | 2020-02-14 |
| CN110788831B true CN110788831B (en) | 2020-12-29 |
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| CN201910961892.4A Active CN110788831B (en) | 2019-10-11 | 2019-10-11 | Rail-moving type large-arm exhibition robot |
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| CN113276102B (en) * | 2021-05-07 | 2023-03-21 | 华南理工大学 | Mechanical arm with seven degrees of freedom |
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| CN201989147U (en) * | 2010-12-29 | 2011-09-28 | 沈阳新松机器人自动化股份有限公司 | Inspection robot for cable tunnel |
| CN105835050B (en) * | 2016-05-23 | 2017-11-10 | 西安电子科技大学 | A kind of Three Degree Of Freedom rope drives serial manipulator device |
| CN107962556A (en) * | 2017-12-29 | 2018-04-27 | 勃肯特（天津）机器人技术有限公司 | Two axis parallel robots and cargo movement system |
| CN109352639B (en) * | 2018-10-08 | 2021-09-17 | 南京航空航天大学 | Underwater rope driving mechanical arm system carried by autonomous underwater vehicle |
| CN110252560B (en) * | 2019-07-16 | 2021-05-11 | 合肥工业大学 | Movable type series-parallel spraying robot for coating high-speed rail body |
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