CN112918583A - Pipeline inner wall four-foot wall-climbing robot and kinematics analysis method thereof - Google Patents
Pipeline inner wall four-foot wall-climbing robot and kinematics analysis method thereof Download PDFInfo
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- 238000004458 analytical method Methods 0.000 title claims abstract description 11
- 210000001699 lower leg Anatomy 0.000 claims abstract description 40
- 210000001624 hip Anatomy 0.000 claims abstract description 39
- 210000000689 upper leg Anatomy 0.000 claims abstract description 39
- 210000004394 hip joint Anatomy 0.000 claims abstract description 38
- 210000002414 leg Anatomy 0.000 claims abstract description 33
- 239000011159 matrix material Substances 0.000 claims description 24
- 230000009194 climbing Effects 0.000 claims description 13
- 210000001503 joint Anatomy 0.000 claims description 12
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- 230000008569 process Effects 0.000 claims description 6
- 244000309466 calf Species 0.000 claims description 4
- 229910052782 aluminium Inorganic materials 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
Abstract
The invention discloses a four-foot wall-climbing robot for the inner wall of a pipeline and a kinematics analysis method thereof, wherein the four-foot wall-climbing robot comprises a waist joint, four legs connected with the waist joint and a controller, every two of the four legs are in a group and distributed on two sides of the waist joint, each leg consists of a hip joint, a thigh joint, a shank joint, a connecting frame and a foot end, the hip joint, the thigh joint and the shank joint are rotatably arranged on the connecting frame, and the hip joint, the thigh joint, the shank joint and the foot end are sequentially connected through the connecting frame, and the two legs in the same group are connected through the connecting frame; the controller is arranged at the waist joint and connected with and controls the joint and the foot end of each leg. The robot can move flexibly in the pipeline. The invention analyzes the position and the posture of the robot in the pipeline and the single-leg coordinate system of the robot by performing kinematic analysis on the robot, solves the forward and inverse solution of the robot motion and can facilitate the motion control of the robot.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a pipeline inner wall four-footed wall-climbing robot and a kinematics analysis method thereof.
Background
The pipeline is widely applied to various aspects of our life, such as large urban sewer pipelines, urban power grid pipelines, large gas conveying pipelines, water plant water conveying pipelines, industrial oil conveying pipelines, high-voltage GIS (gas insulated switchgear) pipeline switches of power grids and the like. However, in the face of various pipeline problems, such as blockage, overhaul, leakage, aging and the like, due to the particularity of the pipeline, substances in the pipeline are not easy to contact with human bodies, most of the substances are not easy to directly contact with the pipeline, the pipeline is narrow, manual operation is not easy, and therefore great difficulty is caused to maintenance and detection of the pipeline, and even if the pipeline is manually accessible, the efficiency is extremely low. Therefore, many scholars develop special robots for pipeline problems to replace manual operation.
The four-footed wall climbing robot has multiple degrees of freedom due to the unique structure, can realize simple front, back, left and right, and can also realize turning and strong load capacity, thereby being increasingly used in the pipeline environment. In actual work, wall surfaces encountered by the wall climbing robot are generally not flat, and most of the wall surfaces are cambered surfaces or uneven surfaces formed by process errors, external force action or impurity deposition, so that how to design the four-foot wall climbing robot capable of flexibly moving in a pipeline and how to control the motion of the four-foot wall climbing robot is a research hotspot at present, wherein kinematic analysis of the four-foot wall climbing robot is the basis of motion control.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a four-footed wall-climbing robot for the inner wall of a pipeline, which can flexibly move in the pipeline.
The second purpose of the invention is to provide a kinematics analysis method of the pipeline inner wall four-footed wall-climbing robot, which can obtain a positive and negative kinematics solution and is convenient for the motion control of the robot.
The first purpose of the invention is realized by the following technical scheme:
a pipeline inner wall four-foot wall climbing robot comprises a waist joint, four legs connected with the waist joint and a controller, wherein every two of the four legs are in a group and distributed on the left side and the right side of the waist joint, each leg comprises a hip joint, a thigh joint, a shank joint, a connecting frame and a foot end, the hip joint, the thigh joint and the shank joint are rotatably arranged on the connecting frames, the hip joint, the thigh joint, the shank joint and the foot ends are sequentially connected through the connecting frames, and two legs in the same group are connected through the connecting frames; the controller is arranged on the waist joint and connected with and controls the hip joint, the thigh joint, the crus joint and the foot end of each leg.
Preferably, the hip joint, the thigh joint and the calf joint respectively comprise a rudder disc and joint servo motors arranged on the rudder disc, the rudder disc is mechanically connected with the connecting frame, the rudder disc is connected with an output shaft of each joint servo motor and rotates along with the rotation of the output shaft, and each joint servo motor is connected to the controller through a cable.
Preferably, the two groups of legs are symmetrically distributed on the waist joint, and the plane of the axis of the two hip joints at the front end and the rear end of the waist joint is parallel to the upper surface of the waist joint; the joint axis of the thigh joint is intersected and vertical with the joint axis of the hip joint; the joint axis of the thigh joint and the joint axis of the shank joint are parallel to each other; the joint axis of the crus joint is parallel to the axis of the foot end symmetry axis.
Preferably, the waist joint is provided with a camera which is connected with and controlled by the controller.
Preferably, the foot end is a vacuum chuck device.
The second purpose of the invention is realized by the following technical scheme:
a kinematic analysis method of a quadruped wall-climbing robot for the inner wall of a pipeline comprises the following steps:
s1, constructing a pipeline basic coordinate system { O } and a robot body coordinate system { E };
s2, determining the position of the four-footed wall-climbing robot in the pipeline through the rotation change of the pipeline basic coordinate system and the robot body coordinate system;
s3, establishing a plurality of single-leg coordinate systems according to the joint positions of the four-footed wall-climbing robot: the single-leg coordinate system { A0} is superposed with the robot body coordinate system { E }; a single-leg coordinate system { A1} is established on the axis center of a joint servo motor of the hip joint, and the three-axis direction is the same as that of the coordinate system { A0 }; the single-leg coordinate system { A2} is established on the joint servo motor axis center of the thigh joint, and y thereofA2The shaft is parallel to the left and right side surfaces of the thigh joint motor; the single-leg coordinate system { A3} is established on the joint servo motor axle center of the crus joint, yA3The shaft is closed with the shankThe left side surface and the right side surface of the motor are parallel; a single-leg coordinate system { A4} is established at the tail end of the shank joint, and the directions of the three axes are the same as those of the single-leg coordinate system { A3 }; the single-leg coordinate system { A5} is established on the foot end, and the directions of the three axes are the same as the single-leg coordinate system { A4 };
s4, obtaining a positive kinematic solution of the four-footed wall-climbing robot through rotation change between single-leg coordinate systems, and determining the positions of joints and foot ends of the four-footed wall-climbing robot based on the positive kinematic solution;
and S5, performing formula transformation on the positive kinematics solution to obtain an inverse kinematics solution of the four-footed wall-climbing robot, and determining the target position of the foot end based on the inverse kinematics solution to obtain the rotation angles of the hip joint, the thigh joint and the calf joint to be controlled.
Preferably, in step S1, a pipeline basic coordinate system { O } is established with the central position of the pipeline as the origin, the axial direction of the pipeline as the x-axis direction, the vertical direction as the y-axis, and the z-axis perpendicular to the x-axis and the y-axis;
the mechanical center of the four-footed wall-climbing robot is taken as the origin, the x axis is collinear with the advancing direction of the four-footed wall-climbing robot, the y axis is arranged upwards and is vertical to the surface of the robot body, and the z axis is vertical to the x axis and the y axis, so that a robot body coordinate system { E } is established.
Preferably, step S2 specifically includes:
the waist joint length 2a, width 2b, height 2c and hip joint L of the four-legged wall-climbing robot are set1Thigh joint length L2Length of crus joint L3Length of foot end joint L4；
Defining the origin O of the coordinate system of the robot bodyEThe position in the pipeline basic coordinate system { O } is (L)X,LY,LZ) Three angle parameters of a coordinate system of the pipeline rotating along x, y and z axes relative to a pipeline basic coordinate system are alpha, beta and gamma;
the coordinate system { E } is transformed into a matrix relative to the coordinate system { O }:
in the formula: r (z, gamma), R (y, beta) and R (x, alpha) are respectivelyIndicating the angle of rotation of the coordinate system about the z, y, x axes, L (L)X,LY,LZ) A displacement representing a movement of the coordinate system;
the position and posture matrix of the robot body can be obtained through three known corners and displacement, so that the position and the posture of the robot in the pipeline can be quantized;
in the motion process of the four-footed wall-climbing robot, a specific robot initial posture is given, and the origin O of the coordinate system of the robot bodyEAt the origin O of the world coordinate system of the pipelineOThe off angles α, β, γ are all zero, and the coordinate system { E } is transformed with the coordinate system { O } by:
wherein R represents the inner diameter radius of the pipe;
is the difference in coordinates of the origin of the two coordinate systems on the z-axis.
Further, the solving process of the positive kinematic solution is as follows:
simultaneous rotation transformation of single-leg coordinate systems { A5} and { A0}, the rotation matrix of the single-leg coordinate system { A0} relative to the coordinate system { A5} is:
in the formula, thetaA1，θA2，θA3Respectively showing the rotation angles of hip joints, thigh joints and crus joints of a single leg;
is a rotation matrix of { A4} relative to a coordinate system of { A5 };
is a rotation matrix of { A3} relative to a coordinate system of { A4 };
is a rotation matrix of { A2} relative to a coordinate system of { A3 };
is a rotation matrix of { A1} relative to a coordinate system of { A2 };
is a rotation matrix of { A0} relative to a coordinate system of { A1 };
a positive kinematic solution is derived:
wherein the content of the first and second substances,A0p is a positive kinematic solution of { A0 };A5p is a positive kinematic solution of { A5 }; x is the number ofA0，yA0，zA0The coordinate values of the foot end positions are indicated.
Further, the positive kinematic solution is subjected to formula transformation to obtain an inverse kinematic solution:
wherein the content of the first and second substances,
nA＝xA0-a-L1。
compared with the prior art, the invention has the following advantages and effects:
(1) in the four-foot wall-climbing robot, four legs are distributed on the side surface of a waist joint, each leg is provided with three joints, the rotation angle of each joint is not limited by a machine body, the rotation range is wide, and the four-foot wall-climbing robot can flexibly move in a pipeline.
(2) In the four-foot wall-climbing robot, the two legs in the same group are connected together through the connecting frame, so that the two legs and the waist joint form a closed loop together, the deformation of the connecting frame can be reduced, and the control precision of the joint is improved.
(3) The invention discloses a kinematic analysis method for a pipeline, which constructs a pipeline coordinate system and a robot body coordinate system, analyzes the coordinate transformation of the pipeline coordinate system and the robot body coordinate system to obtain the relation between the transformation rule and the robot posture, and further determines the axial and radial positions of the robot and the deflection angle of the robot body. According to the positions of the joints, a plurality of single-leg coordinate systems are established, and the forward and inverse mathematical solution of the robot is obtained through transformation among the coordinate systems, so that a theoretical basis can be provided for subsequent robot control.
Drawings
Fig. 1 is a schematic view of a quadruped wall climbing robot for the inner wall of a pipeline.
Fig. 2 is a top view of the pipeline inner wall quadruped wall-climbing robot.
Fig. 3 is a schematic diagram of a pipeline base coordinate system and a robot body coordinate system.
Fig. 4 is a schematic diagram of the robot body coordinate system in the initial state.
Fig. 5 is a schematic view of a monopod coordinate system.
The reference numbers in the figures indicate:
1: a lower leg joint; 2: a thigh joint; 3: a rudder wheel; 4: a waist joint; 5: a No. 2 connecting frame; 6: a No. 3 connecting frame; 7: a No. 4 connecting frame; 8: a No. 5 connecting frame; 9: no. 1 connecting frame; 10: a fixed mount; 11: a vacuum chuck; 12: a camera is provided.
Detailed Description
The present invention will be described in further detail with reference to examples and drawings, but the present invention is not limited thereto.
The embodiment discloses a pipeline inner wall four-footed wall climbing robot, which comprises a waist joint 4, four legs connected with the waist joint and a controller, as shown in fig. 1 and 2.
The waist joint is used as the fuselage body, and four legs are in a group two by two and are symmetrically distributed on the left side and the right side of the waist joint. The waist joint can be cut and assembled by using a metal plate such as 5052 aluminum plate.
Each leg consists of a hip joint, a thigh joint 2, a shank joint 1, a connecting frame and a foot end. The hip joint, the thigh joint and the shank joint are all rotatably arranged on the connecting frame, and the hip joint, the thigh joint, the shank joint and the foot end are sequentially connected through the connecting frame. The connecting frame can be made of a metal plate such as 5052 aluminum plate.
For two hip joints at the front end and the rear end of the waist joint, the plane of the joint axis is parallel to the upper surface of the waist joint, the joint axis of the thigh joint is vertical to the joint axis of the hip joint, the joint axis of the thigh joint is parallel to the joint axis of the shank joint, and the joint axis of the shank joint is parallel to the axis of the foot end symmetry axis.
The hip joint, the thigh joint and the shank joint all contain a rudder disc 3 and a joint servo motor, the rudder disc is mechanically connected with the connecting frame, and the rudder disc is fixed through bolts in the embodiment. The tail end of an output shaft of the joint servo motor is provided with a rudder disc, and the rudder disc, a connecting frame connected with the rudder disc and parts fixed with the connecting frame rotate together along with the rotation of the output shaft.
The foot end can adopt a vacuum chuck device. The vacuum chuck 11 of the vacuum chuck device can be deflated and inflated through the vacuum tube. The robot can be reliably attracted to the inner wall surface of the duct by the vacuum chuck.
In the embodiment, single legs are connected through a series structure, a hip joint is fixed on a machine body, a rudder plate of an output shaft of the hip joint is fixed with a No. 1 connecting frame 9, the No. 1 connecting frame is fixed with a thigh joint, the rudder plate of the output shaft of the thigh joint is connected with a No. 2 connecting frame 5, the No. 2 connecting frame is connected with a No. 3 connecting frame 6, the No. 3 connecting frame is connected with a rudder plate of an output shaft of a shank joint motor, the shank joint motor is connected with a No. 4 connecting frame 7, the No. 4 connecting frame is connected with a No. 5 connecting frame 8, and the No. 5 connecting frame is connected with a vacuum sucker 11 at a foot end.
The two legs in the same group are connected through the connecting frame, as shown in fig. 1 and fig. 2, the No. 1 connecting frames of the two legs are connected through the fixing frame 10, so that the two legs and the waist joint are connected into a closed loop together, the deformation of the connecting frame can be reduced, and the control precision of the joint is improved. In addition, the other connecting frame can be connected to the machine body through a fixing rod so as to play a role in fixing the machine body. As shown in fig. 1, the robot of the present embodiment refers to the biological structure of gecko, and the four legs are directly arranged at the side of the waist joint instead of under the waist joint, so the center of gravity of the robot body can be set lower, the rotation of the joints is not limited by the robot body, the rotation range is larger, and the movement is more flexible.
The controller is arranged on the waist joint, the controller is accommodated in the waist joint in the embodiment, each joint servo motor is connected to the controller through a cable, and the controller can control the rotation angles of the hip joint, the thigh joint and the crus joint of each leg and the adsorption of the foot end to the ground. Specifically, when the robot does not need to act, the joint servo motor does not work, and the foot end is deflated through the vacuum tube to be adsorbed on the wall surface; when the robot needs to move, the foot end firstly enters air through the vacuum tube, and the joint servo motor works again, so that the vacuum state of the vacuum suction cup changes along with the movement condition of the robot.
In this embodiment, still install camera 12 on the waist joint, camera connection controller to by controller control, the camera can transmit the environmental image of its collection for the controller, so that know the environment that the robot is located, control the robot better.
In addition, the embodiment also discloses a kinematic analysis method of the four-footed wall-climbing robot for the inner wall of the pipeline, which can be applied to the four-footed wall-climbing robot and specifically comprises the following steps:
s1, constructing a pipeline basic coordinate system { O } and a robot body coordinate system { E }:
as shown in fig. 3 to 5, a pipeline basic coordinate system { O } is established by taking the central position of the pipeline as an origin, the axial direction of the pipeline as the x-axis direction, the vertical upward direction as the y-axis, and the z-axis being perpendicular to the x-axis and the y-axis;
the mechanical center of the four-footed wall-climbing robot is taken as the origin, the x axis is collinear with the advancing direction of the four-footed wall-climbing robot, the y axis is arranged upwards and is vertical to the surface of the robot body, and the z axis is vertical to the x axis and the y axis, so that a robot body coordinate system { E } is established.
S2, determining the position of the quadruped wall-climbing robot in the pipeline through the rotation change of the pipeline basic coordinate system and the robot body coordinate system:
the waist joint length 2a, width 2b, height 2c and hip joint L of the four-legged wall-climbing robot are set1Thigh joint length L2Length of crus joint L3Length of foot end joint L4(ii) a Defining the origin O of the coordinate system of the robot bodyEThe position in the pipeline basic coordinate system { O } is (L)X,LY,LZ) And three angle parameters of the coordinate system of the pipeline rotating along the x, y and z axes relative to the pipeline basic coordinate system are alpha, beta and gamma. These data are known and can be obtained by measurement calculation;
the coordinate system { E } is transformed into a matrix relative to the coordinate system { O }:
in the formula: r (z, gamma), R (y, beta) and R (x, alpha) respectively represent the rotation angles of the coordinate system around the z, y and x axes; l (L)X,LY,LZ) Representing the displacement of the coordinate system movement.
The position and posture matrix of the robot body can be obtained through three known corners and displacement, so that the position and the posture of the robot in the pipeline can be quantified.
In the motion process of the four-footed wall-climbing robot, a specific robot initial posture is given, and the origin O of the coordinate system of the robot bodyEAt the origin O of the world coordinate system of the pipelineOThe off angles α, β, γ are all zero, and the coordinate system { E } is transformed with the coordinate system { O } by:
wherein R represents the pipe inner diameter radius.
For two coordinate system originsCoordinate difference on z-axis.
S3, establishing a plurality of single-leg coordinate systems according to the joint positions of the four-footed wall-climbing robot: as shown in fig. 5, the one-leg coordinate system { a0} coincides with the robot body coordinate system { E }; a single-leg coordinate system { A1} is established on the axis center of a joint servo motor of the hip joint, and the three-axis direction is the same as that of the coordinate system { A0 }; the single-leg coordinate system { A2} is established on the joint servo motor axis center of the thigh joint, and y thereofA2The shaft is parallel to the left and right side surfaces of the thigh joint motor; the single-leg coordinate system { A3} is established on the joint servo motor axle center of the crus joint, yA3The shaft is parallel to the left and right side surfaces of the shank joint motor; a single-leg coordinate system { A4} is established at the tail end of the shank joint, and the directions of the three axes are the same as those of the single-leg coordinate system { A3 }; the single-leg coordinate system { A5} is established on the foot end, and the directions of the three axes are the same as the single-leg coordinate system { A4 };
s4, obtaining a positive kinematic solution of the four-footed wall-climbing robot through the rotation change between single-leg coordinate systems:
simultaneous rotation transformation of single-leg coordinate systems { A5} and { A0}, the rotation matrix of the single-leg coordinate system { A0} relative to the coordinate system { A5} is:
in the formula: thetaA1，θA2，θA3Respectively showing the rotation angles of hip joints, thigh joints and crus joints of a single leg;
is a rotation matrix of { A4} relative to a coordinate system of { A5 };
is a rotation matrix of { A3} relative to a coordinate system of { A4 };
is a rotation matrix of { A2} relative to a coordinate system of { A3 };
is a rotation matrix of { A1} relative to a coordinate system of { A2 };
is a rotation matrix of { A0} relative to a coordinate system of { A1 };
a positive kinematic solution is derived:
wherein the content of the first and second substances,A0p is a positive kinematic solution of { A0 };A5p is a positive kinematic solution of { A5 }; x is the number ofA0，yA0，zA0The coordinate values of the foot end positions are indicated.
S5, carrying out formula transformation on the positive kinematics solution to obtain an inverse kinematics solution of the four-footed wall-climbing robot:
wherein the content of the first and second substances,
nA＝xA0-a-L1。
thus, the target position of the foot end is given (i.e., x is given)A0，yA0，zA0) Based on the inverse kinematics solution, the rotation angles of the hip joint, thigh joint and calf joint to be controlled can be solved.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.
Claims (10)
1. A pipeline inner wall four-foot wall climbing robot is characterized by comprising a waist joint, four legs connected with the waist joint and a controller, wherein the four legs are grouped in pairs and distributed on the left side and the right side of the waist joint, each leg comprises a hip joint, a thigh joint, a shank joint, a connecting frame and a foot end, the hip joint, the thigh joint and the shank joint are rotatably arranged on the connecting frame, and the hip joint, the thigh joint, the shank joint and the foot end are sequentially connected through the connecting frame, and the two legs in the same group are connected through the connecting frame; the controller is arranged on the waist joint and connected with and controls the hip joint, the thigh joint, the crus joint and the foot end of each leg.
2. The robot for climbing wall of four feet on inner wall of pipeline according to claim 1, wherein the hip joint, thigh joint and shank joint all comprise a rudder disc and joint servo motors arranged on the rudder disc, the rudder disc is mechanically connected with the connecting frame, the rudder disc is connected with the output shaft of each joint servo motor and rotates along with the rotation of the output shaft, and each joint servo motor is connected to the controller through cables.
3. The robot for climbing wall on four feet of inner wall of pipe according to claim 1, wherein two groups of legs are symmetrically distributed on the waist joint, and for two hip joints at the front end and the back end of the waist joint, the plane of the axis is parallel to the upper surface of the waist joint; the joint axis of the thigh joint is intersected and vertical with the joint axis of the hip joint; the joint axis of the thigh joint and the joint axis of the shank joint are parallel to each other; the joint axis of the crus joint is parallel to the axis of the foot end symmetry axis.
4. The robot for climbing wall of four feet on inner wall of pipeline according to claim 1, wherein the waist joint is provided with a camera, and the camera is connected with and controlled by the controller.
5. The pipeline inner wall quadruped wall climbing robot as claimed in claim 1, wherein the foot end is a vacuum chuck device.
6. A kinematic analysis method of a quadruped wall-climbing robot for the inner wall of a pipeline is characterized by comprising the following steps:
s1, constructing a pipeline basic coordinate system { O } and a robot body coordinate system { E };
s2, determining the position of the four-footed wall-climbing robot in the pipeline through the rotation change of the pipeline basic coordinate system and the robot body coordinate system;
s3, establishing a plurality of single-leg coordinate systems according to the joint positions of the four-footed wall-climbing robot: the single-leg coordinate system { A0} is superposed with the robot body coordinate system { E }; a single-leg coordinate system { A1} is established on the axis center of a joint servo motor of the hip joint, and the three-axis direction is the same as that of the coordinate system { A0 }; the single-leg coordinate system { A2} is established on the joint servo motor axis center of the thigh joint, and y thereofA2The shaft is parallel to the left and right side surfaces of the thigh joint motor; the single-leg coordinate system { A3} is established on the joint servo motor axle center of the crus joint, yA3The shaft is parallel to the left and right side surfaces of the shank joint motor; a single-leg coordinate system { A4} is established at the tail end of the shank joint, and the directions of the three axes are the same as those of the single-leg coordinate system { A3 }; the single-leg coordinate system { A5} is established on the foot end, and the directions of the three axes are the same as the single-leg coordinate system { A4 };
s4, obtaining a positive kinematic solution of the four-footed wall-climbing robot through rotation change between single-leg coordinate systems, and determining the positions of joints and foot ends of the four-footed wall-climbing robot based on the positive kinematic solution;
and S5, performing formula transformation on the positive kinematics solution to obtain an inverse kinematics solution of the four-footed wall-climbing robot, and determining the target position of the foot end based on the inverse kinematics solution to obtain the rotation angles of the hip joint, the thigh joint and the calf joint to be controlled.
7. The method for analyzing the kinematics of the robot according to claim 6, wherein in step S1, a basic coordinate system { O } of the pipeline is established with the central position of the pipeline as the origin, the axial direction of the pipeline as the x-axis direction, the vertical direction as the y-axis, and the z-axis perpendicular to the x-axis and the y-axis;
the mechanical center of the four-footed wall-climbing robot is taken as the origin, the x axis is collinear with the advancing direction of the four-footed wall-climbing robot, the y axis is arranged upwards and is vertical to the surface of the robot body, and the z axis is vertical to the x axis and the y axis, so that a robot body coordinate system { E } is established.
8. The method for analyzing the kinematics of the pipeline inner wall quadruped wall-climbing robot according to claim 6, wherein step S2 specifically comprises:
the waist joint length 2a, width 2b, height 2c and hip joint L of the four-legged wall-climbing robot are set1Thigh joint length L2Length of crus joint L3Length of foot end joint L4；
Defining the origin O of the coordinate system of the robot bodyEThe position in the pipeline basic coordinate system { O } is (L)X,LY,LZ) Three angle parameters of a coordinate system of the pipeline rotating along x, y and z axes relative to a pipeline basic coordinate system are alpha, beta and gamma;
the coordinate system { E } is transformed into a matrix relative to the coordinate system { O }:
in the formula: r (z, gamma), R (y, beta), R (x, alpha) represent the angle of rotation of the coordinate system around the z, y, x axes, respectively, L (L)X,LY,LZ) A displacement representing a movement of the coordinate system;
the position and posture matrix of the robot body can be obtained through three known corners and displacement, so that the position and the posture of the robot in the pipeline can be quantized;
in the motion process of the four-footed wall-climbing robot, a specific robot initial posture is given, and the origin O of the coordinate system of the robot bodyEAt the origin O of the world coordinate system of the pipelineOThe off angles α, β, γ are all zero, and the coordinate system { E } is transformed with the coordinate system { O } by:
wherein R represents the inner diameter radius of the pipe;
is the difference in coordinates of the origin of the two coordinate systems on the z-axis.
9. The method for analyzing the kinematics of the pipeline inner wall quadruped wall-climbing robot according to claim 8, wherein the solving process of the positive kinematics solution is as follows:
simultaneous rotation transformation of single-leg coordinate systems { A5} and { A0}, the rotation matrix of the single-leg coordinate system { A0} relative to the coordinate system { A5} is:
in the formula, thetaA1，θA2，θA3Respectively showing the rotation angles of hip joints, thigh joints and crus joints of a single leg;
is a rotation matrix of { A4} relative to a coordinate system of { A5 };
is a rotation matrix of { A3} relative to a coordinate system of { A4 };
is a rotation matrix of { A2} relative to a coordinate system of { A3 };
is a rotation matrix of { A1} relative to a coordinate system of { A2 };
is { A0} relativeA rotation matrix in a coordinate system { A1 };
a positive kinematic solution is derived:
wherein the content of the first and second substances,A0p is a positive kinematic solution of { A0 };A5p is a positive kinematic solution of { A5 }; x is the number ofA0，yA0，zA0The coordinate values of the foot end positions are indicated.
10. The method for analyzing the kinematics of the pipeline inner wall quadruped wall-climbing robot according to claim 9, wherein a positive kinematics solution is subjected to formula transformation to obtain an inverse kinematics solution:
wherein the content of the first and second substances,
nA＝xA0-a-L1。
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