CN113752237B - High-voltage wire wheel type wire hanging robot experiment platform and application method thereof - Google Patents
High-voltage wire wheel type wire hanging robot experiment platform and application method thereof Download PDFInfo
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- CN113752237B CN113752237B CN202111040893.9A CN202111040893A CN113752237B CN 113752237 B CN113752237 B CN 113752237B CN 202111040893 A CN202111040893 A CN 202111040893A CN 113752237 B CN113752237 B CN 113752237B
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- 238000002474 experimental method Methods 0.000 title claims abstract description 45
- 238000000034 method Methods 0.000 title claims abstract description 45
- 230000005540 biological transmission Effects 0.000 claims abstract description 55
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 43
- 239000010959 steel Substances 0.000 claims abstract description 43
- 238000006073 displacement reaction Methods 0.000 claims abstract description 27
- 230000009194 climbing Effects 0.000 claims description 11
- 238000005299 abrasion Methods 0.000 claims description 7
- 230000033001 locomotion Effects 0.000 claims description 7
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 4
- 229910052782 aluminium Inorganic materials 0.000 claims description 4
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 238000013459 approach Methods 0.000 claims description 3
- 238000012360 testing method Methods 0.000 description 5
- 238000005259 measurement Methods 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 1
- 238000007792 addition Methods 0.000 description 1
- 239000004411 aluminium Substances 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
Classifications
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/022—Optical sensing devices using lasers
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
Abstract
The invention relates to the field of robots, in particular to a high-voltage wire wheel type wire hanging robot experiment platform and a use method thereof, wherein the experiment platform comprises a controller, a first platform, a wheel type wire hanging robot and a second platform, the first platform comprises two groups of supporting devices, and the supporting devices comprise I-steel supports, pulley supports and pulleys; the second platform comprises a platform frame, a gradient adjusting device and a transmission device, wherein the platform frame comprises a fixed support, bearing seats, a laser displacement sensor mounting plate and a full-through hole encoder mounting plate, an opening is formed in one side of the top of the fixed support, two opposite bearing seats are formed in the other side of the top of the fixed support, a push rod fixing plate is arranged on the side, adjacent to the opening, of the fixed support along the width, and a guide rail fixing plate is arranged on the side, adjacent to the opening, of the fixed support along the length. When the experimental platform is used, the inclination degree of the first platform can be changed through the adjusting bolts, and the inclination degree of the second platform can be changed through the electric push rod adjusted by the controller.
Description
Technical Field
The invention relates to the field of robots, in particular to a high-voltage wire wheel type wire hanging robot experiment platform and a using method thereof.
Background
The high-voltage wire wheel type wire hanging robot has the advantages of high working efficiency, good safety and the like as a new inspection device, has good market application prospect, and along with the development of the wheel type wire hanging robot, various types of wheel type wire hanging robots are appeared, namely a double-arm wheel type wire hanging robot and a three-arm wheel type wire hanging robot, and the high-voltage wire wheel type wire hanging robot has a pressing device and has no pressing device, so that the high requirements on an experimental platform are met. The existing experimental environment is often simply built or an actual high-voltage line is subjected to experiment, the simple built experimental platform is often single in experimental type, and the motion parameters of the robot cannot be comprehensively analyzed; the practical high-voltage line is subjected to experiments, so that the operation is troublesome and the danger is full. In order to improve the reliability of the wheel-type wire-hanging robot, the walking capacity, obstacle surmounting capacity, climbing capacity, slipping, long-time working abrasion degree of the walking wheel and the endurance and mileage of a robot battery of the wheel-type wire-hanging robot are tested in the working process, and the difference between the actual motion condition and the simulation model of the high-voltage wire-hanging robot is better researched, so that an experiment platform of the high-voltage wire-hanging robot is necessary to be established.
Disclosure of Invention
The invention discloses a high-voltage wire wheel type wire hanging robot experiment platform and a use method thereof, and aims to solve the problems of simple type and incomplete test function of the robot experiment platform in the prior art.
The high-voltage wire wheel type wire hanging robot experiment platform comprises a controller, a first platform, a wheel type wire hanging robot and a second platform, wherein the controller is respectively in wireless connection with the first platform, the wheel type wire hanging robot and the second platform;
the first platform comprises two groups of supporting devices, each supporting device comprises an I-shaped steel support, a pulley support and a pulley, the I-shaped steel supports are vertically arranged along the length direction, a pulley support plate is arranged in an I-shaped groove on one side of the top of each I-shaped steel support, the top of each pulley support plate outwards extends to form the pulley support, the pulley support bottom is provided with a pulley, a high-voltage wire is arranged on each pulley, the high-voltage wire tensioning force adjusting device is arranged at the bottom of each I-shaped steel support, the middle part of each high-voltage wire is lapped on each two pulleys, and two ends of each high-voltage wire tensioning force adjusting device are respectively connected with each other;
the second platform comprises a platform frame, a gradient adjusting device and a transmission device, wherein the platform frame comprises a fixed support, bearing seats, a laser displacement sensor mounting plate and a full-through hole encoder mounting plate, an opening is formed in one side of the top of the fixed support, two opposite bearing seats are formed in the other side of the top of the fixed support, a push rod fixing plate is arranged on the side, adjacent to the opening, of the fixed support along the width, and a guide rail fixing plate is arranged on the side, adjacent to the opening, of the fixed support along the length.
Preferably, a through hole for fixing the pulley support plate is arranged in the I-shaped groove of the I-shaped steel support, the through hole extends along the height direction of the I-shaped steel support, two parallel groups are arranged, the pulley support plate is fixed in the I-shaped groove through the matching of the bolt and the through hole, and one side of the through hole is provided with scales along the length of the through hole.
Preferably, the high-voltage wire tensioning force adjusting device is provided with two groups, and comprises a ratchet clamp and a spring dynamometer, one end of the spring dynamometer is connected with the high-voltage wire, the other end of the spring dynamometer is connected with the ratchet clamp, and the ratchet clamp is fixed on the I-steel support through a bolt at one end of the ratchet clamp.
Preferably, the wheeled wire-hanging robot comprises a travelling wheel, a supporting structure, a motor, an inertial navigation device and a control box, wherein a motor encoder is arranged in the motor, the motor is fixedly connected with the top of the supporting structure, the travelling wheel is connected with an output shaft of the motor through a bolt, the control box is fixed at the lower end of the supporting structure through angular aluminum, and the inertial navigation device is arranged at the top of the control box.
Preferably, the gradient adjusting device comprises an electric push rod, a bearing seat supporting plate, an arc-shaped guide rail and a guide rail sliding block, wherein two opposite bearing seats are arranged in the bearing seat supporting plate, the electric push rod comprises a push rod and a driving motor, the push rod is connected with the driving motor through a gear assembly, one end of the push rod is hinged to the bottom of the bearing seat supporting plate, the other end of the push rod is hinged to a push rod fixing plate, the arc-shaped guide rail is arranged on the guide rail fixing plate, the guide rail sliding block is arranged in the arc-shaped guide rail, and one end of the guide rail sliding block is fixedly connected with the bearing seat supporting plate.
Preferably, the transmission device comprises a variable frequency motor, a coupling, a non-joint annular high-voltage wire, a transmission belt pulley and a transmission shaft, wherein the transmission shaft is arranged between two opposite bearing seats, the transmission belt pulley is arranged in the middle of the transmission shaft, the non-joint annular high-voltage wire is connected with two groups of transmission belt pulleys on a fixed support and two groups of transmission belt pulleys on a bearing seat support plate, and the variable frequency motor is connected with the transmission belt pulley on the fixed support through the coupling.
Preferably, the laser displacement sensor mounting plate is arranged on one side of the driving belt wheel on the fixed support, and one end of the full-through hole encoder mounting plate is fixedly connected with the bearing seat on the fixed support through bolts.
A high-voltage wire wheel type wire hanging robot experiment platform using method comprises the following steps:
when the first platform is used, the climbing angle required by the wheel-type wire hanging robot is obtained, the angle of the first platform is adjusted, a fixing bolt between the I-steel support and the pulley support is loosened, the pulley support can move up and down in a through hole in the middle of the I-steel support, then the pulley support is moved to the scale position of the required climbing angle, the fixing bolt is screwed, and the tensioning force of the high-voltage wire is adjusted to the required size through ratchet clamps at two ends and a spring dynamometer;
in the running process of the wheel type wire-hanging robot, the damper can verify the obstacle crossing capability of the robot, the measuring signals of the inertial navigation device and the motor encoder are transmitted to the controller, the controller analyzes and processes the signals to obtain the integral movement speed of the wheel type wire-hanging robot and the running speed of the running wheel of the wheel type wire-hanging robot, and the two speed values are compared to judge whether the robot slips in the running process;
when the second platform is used, the height of the electric push rod is obtained, the controller inputs a control instruction to adjust the height of the electric push rod, the wheel type wire hanging robot is placed on the endless annular high-voltage wire, the wheel groove of the wheel type wire hanging robot travelling wheel is fully contacted with the endless annular high-voltage wire, the variable frequency motor is opened, the variable frequency motor drives the transmission shaft on the fixed support through the coupler and rotates through the transmission belt wheel, then the transmission belt wheel of the bearing seat support plate is driven to rotate through the endless annular high-voltage wire, the wheel type wire hanging robot power supply is started, at the moment, signals of the motor encoder are transmitted to the controller, the controller analyzes and processes the signals, and then the speed of the variable frequency motor is adjusted, so that the speeds of the endless annular high-voltage wire and the wheel type wire hanging robot travelling wheel are identical.
Preferably, the measuring signal of the laser displacement sensor is transmitted to the controller and then fed back to the variable frequency motor, the robot is kept at the middle position of the endless annular high-voltage line by adjusting the speed of the variable frequency motor, and the abrasion loss of the travelling wheel of the wheel-type wire-hanging robot under each working time can be tested through the working time of the test platform.
Preferably, when the battery electric quantity of the wheel type wire hanging robot is exhausted, the wheel type wire hanging robot is close to one side of the laser displacement sensor, signals of the laser displacement sensor are fed back to the variable frequency motor to enable the variable frequency motor to stop rotating, at the moment, measurement signals of the full-through hole encoder are transmitted to the controller, the controller analyzes and processes the signals to obtain the battery endurance time and the mileage number of the wheel type wire hanging robot in the working process, and in the experimental process, the height of the electric push rod can be adjusted at any time through the controller to simulate working conditions of different gradients.
Compared with the prior art, the invention adopts the first and the second experiment platforms, the first experiment platform can test the walking, obstacle surmounting and climbing slipping of the wheel-type on-line robot, the obstacle surmounting capacity of the robot can be verified by using the damper on the high-voltage line, the climbing angle of 0-30 degrees can be set by using the angle scales on the pulley support and the I-steel support, and the slipping analysis in the moving process of the robot can be tested by using the inertial navigation device and the encoder of the first motor of the wheel-type on-line robot; the second experiment platform can analyze the abrasion of the travelling wheel of the robot and the endurance capacity of the battery, and is similar to the principle of a running machine, the first motor of the wheel-type wire-hanging robot and the variable frequency motor of the second experiment platform synchronously rotate, the speed of the frequency modulation motor is controlled by using the displacement value fed back by the laser displacement sensor, the wheel-type wire-hanging robot is always kept at the middle position of the endless annular high-voltage wire, the abrasion condition of the travelling wheel in the working process can be tested through long-time working, the endurance capacity of the battery of the wheel-type wire-hanging robot can be tested by using the full-through hole encoder, and the research on the movement characteristics of the wheel-type wire-hanging robot is completed; the structure is simple and compact, and the control process is simple and reliable.
Drawings
FIG. 1 is a schematic view of a first robot experiment platform structure of the present invention;
FIG. 2 is a schematic view of a support structure for I-steel in accordance with the present invention;
FIG. 3 is a schematic view of the pulley and pulley support structure of the present invention;
FIG. 4 is a schematic view of the high voltage line tension adjusting device of the present invention;
FIG. 5 is a schematic view of the structure of the high-voltage wire wheel type wire hanging robot of the present invention;
FIG. 6 is a schematic diagram of a second robot experiment platform structure of the present invention;
FIG. 7 is a schematic bottom view of a second robotic experiment platform structure of the invention;
the reference numerals include: 1-first I-steel support, 2-first ratchet clamp, 3-first spring dynamometer, 4-first pulley, 5-first pulley support, 6-high voltage line, 7-wheel wire robot, 8-damper, 9-second pulley support, 10-second pulley, 11-second spring dynamometer, 12-second ratchet clamp, 13-second I-steel support, 14-support structure, 15-first motor, 16-travelling wheel, 17-inertial navigation device, 18-control box, 19-fixed bracket, 20-variable frequency motor, 21-coupler, 22-first bearing block, 23-first transmission shaft, 24-first transmission belt pulley, 25-endless annular high voltage line, 26-arc guide rail, 27-bearing block support plate, 28-third bearing block, 29-second transmission shaft, 30-second transmission belt pulley, 31-fourth bearing block, 32-electric push rod, 33-full through hole encoder, 34-full through hole encoder mounting plate, 35-second bearing block, 36-laser displacement sensor, 37-electric push rod, 38-first bearing block, 39-first sliding block, 41-sliding block support, length direction, and direction of the first sliding block support.
Detailed Description
The invention is described in further detail below in connection with the following detailed description:
the high-voltage wire wheel type wire hanging robot experiment platform comprises a controller 41, a first platform, a wheel type wire hanging robot 7 and a second platform, wherein the controller 41 is respectively in wireless connection with the first platform, the wheel type wire hanging robot 7 and the second platform;
the first platform comprises two groups of supporting devices, each supporting device comprises an I-shaped steel support, a pulley support and a pulley, the I-shaped steel supports are vertically arranged along the length direction, a pulley support plate is arranged in an I-shaped groove on one side of the top of each I-shaped steel support, the top of each pulley support plate outwards extends to form the pulley support, the pulley support bottom is provided with a pulley, a high-voltage wire is arranged on each pulley, the high-voltage wire tensioning force adjusting device is arranged at the bottom of each I-shaped steel support, the middle part of each high-voltage wire is lapped on each two pulleys, and two ends of each high-voltage wire tensioning force adjusting device are respectively connected with each other;
the second platform comprises a platform frame, a gradient adjusting device and a transmission device, wherein the platform frame comprises a fixing support 19, bearing seats, a laser displacement sensor mounting plate 37 and a full-through hole encoder mounting plate 34, an opening is formed in one side of the top of the fixing support 19, two opposite bearing seats are formed in the other side of the top of the fixing support 19, a push rod fixing plate is arranged on the side, adjacent to the opening, of the fixing support 19 along the width A, and a guide rail fixing plate is arranged on the side, adjacent to the opening, of the fixing support 19 along the length B.
The novel pulley support is characterized in that a through hole for fixing the pulley support plate is formed in the I-shaped groove of the I-shaped steel support, the through hole extends along the height direction of the I-shaped steel support, two parallel groups are arranged, the pulley support plate is fixed in the I-shaped groove through the matching of the bolt and the through hole, and scales along the length of the through hole are arranged on one side of the through hole.
The high-voltage wire tensioning force adjusting device is provided with two groups, and comprises a ratchet clamping device and a spring dynamometer, wherein one end of the spring dynamometer is connected with a high-voltage wire, the other end of the spring dynamometer is connected with the ratchet clamping device, and the ratchet clamping device is fixed on an I-steel support through a bolt at one end of the ratchet clamping device.
The wheel-type wire-hanging robot 7 comprises a travelling wheel 16, a supporting structure 14, a motor, an inertial navigation device 17 and a control box 18, wherein a motor encoder is arranged in the motor, the motor is fixedly connected with the top of the supporting structure 14, the travelling wheel 16 is connected with an output shaft of the motor through a bolt, the control box 18 is fixed at the lower end of the supporting structure 14 through angular aluminum, and the inertial navigation device 17 is arranged at the top of the control box 18.
The gradient adjusting device comprises an electric push rod 32, a bearing seat supporting plate 27, an arc-shaped guide rail 26 and a guide rail sliding block 40, wherein two opposite bearing seats are arranged on the bearing seat supporting plate 27, the electric push rod 32 comprises a push rod and a driving motor, the push rod is connected with the driving motor through a gear assembly, one end of the push rod is hinged to the bottom of the bearing seat supporting plate 27, the other end of the push rod is hinged to a push rod fixing plate, the arc-shaped guide rail 26 is arranged on the guide rail fixing plate, the guide rail sliding block 40 is arranged in the arc-shaped guide rail 26, and one end of the guide rail sliding block 40 is fixedly connected with the bearing seat supporting plate 27.
The transmission device comprises a variable frequency motor 20, a coupler 21, an endless annular high-voltage wire 25, a transmission belt wheel and a transmission shaft, wherein the transmission shaft is arranged between two opposite bearing seats, the transmission belt wheel is arranged in the middle of the transmission shaft, the endless annular high-voltage wire 25 is connected with the fixed support 19 and two groups of transmission belt wheels on a bearing seat support plate 27, and the variable frequency motor 20 is connected with the transmission belt wheels on the fixed support 19 through the coupler 21.
The laser displacement sensor mounting plate 37 is arranged on one side of the driving belt wheel on the fixed support 19, and one end of the full-through hole encoder mounting plate 34 is fixedly connected with a bearing seat on the fixed support 19 through bolts.
A high-voltage wire wheel type wire hanging robot experiment platform using method comprises the following steps:
when the first platform is used, the climbing angle required by the wheel-type wire hanging robot 7 is obtained, the angle of the first platform is adjusted, a fixing bolt between the I-steel support and the pulley support is loosened, the pulley support can move up and down in a through hole in the middle of the I-steel support, then the pulley support is moved to the scale position of the required climbing angle, the fixing bolt is screwed, and the tensioning force of the high-voltage wire is adjusted to the required size through ratchet clamps at two ends and a spring dynamometer;
in the walking process of the wheel type wire-hanging robot 7, the damper 8 can verify the obstacle crossing capability of the robot, the measuring signals of the inertial navigation device 17 and the motor encoder are transmitted to the controller 41, the controller 41 analyzes and processes the signals to obtain the integral movement speed of the wheel type wire-hanging robot 7 and the running speed of the walking wheel 16 of the wheel type wire-hanging robot 7, and the two speed values are compared to judge whether the robot slips in the walking process;
when the second platform is used, the height of the electric push rod 32 is obtained, the controller 41 inputs a control instruction to adjust the height of the electric push rod 32, the wheel type wire hanging robot 7 is placed on the endless annular high-voltage wire 25, the wheel groove of the travelling wheel 16 of the wheel type wire hanging robot 7 is completely contacted with the endless annular high-voltage wire 25, the variable frequency motor 20 is opened, the variable frequency motor 20 drives the transmission shaft on the fixed support 19 through the coupler 21 and rotates through the transmission belt wheel, then the transmission belt wheel of the bearing support plate 27 is driven through the endless annular high-voltage wire 25 to rotate, meanwhile, the power supply of the wheel type wire hanging robot 7 is started, at the moment, the signal of the motor encoder is transmitted to the controller 41, the controller 41 analyzes and processes the signal, and then the speed of the variable frequency motor 20 is adjusted, so that the speeds of the endless annular high-voltage wire 25 and the travelling wheel 16 of the wheel type wire hanging robot 7 are identical.
The measuring signal of the laser displacement sensor 36 is transmitted to the controller 41 and then fed back to the variable frequency motor 20, the speed of the variable frequency motor 20 is adjusted to enable the robot to be kept at the middle position of the endless annular high-voltage wire 25, and the abrasion loss of the travelling wheel 16 of the wheel-type wire-hanging robot 7 under each working time can be tested through the working time of the test platform.
When the battery electric quantity of the wheel type wire hanging robot 7 is exhausted, the wheel type wire hanging robot 7 approaches to one side of the laser displacement sensor 36, the laser displacement sensor 36 feeds back signals to the variable frequency motor 20 to stop rotating, at the moment, measurement signals of the full-through hole encoder 33 are transmitted to the controller 41, the controller 41 analyzes and processes the signals to obtain the battery endurance time and the mileage number of the wheel type wire hanging robot 7 in the working process, and in the experimental process, the height of the electric push rod 32 can be adjusted through the controller 41 at any time to simulate working conditions of different gradients.
The wheel-type line-hanging robot experiment platform comprises a first robot experiment platform and a second robot experiment platform; the wheeled on-line robot experiment platform control system comprises a sensor group and a controller. As shown in fig. 1, the first robot experiment platform comprises a support and height adjusting device, a high-voltage wire tension adjusting device and a wheel-type wire hanging robot. As shown in fig. 2 and 3, the supporting and height adjusting device comprises a first i-steel support 1, a second i-steel support 13, a first pulley support 5, a second pulley support 9, a first pulley 4 and a second pulley 10; the base of the first I-steel support 1 is fixedly connected with the floor through foundation bolts, a through hole is formed in the middle of the base, and scales are carved on one side of the base; one end of the first pulley support 5 is connected with the first I-steel support 1 through bolts, and the first pulley support 5 can move up and down and be fixed in a through hole of the first I-steel support 1 through elastic bolts; the first pulley 4 is fixed at the other end of the first pulley support 5 through a bolt and moves along with the first pulley support 5; the connection relation of the first I-steel support 1 and the second I-steel support 13, the first pulley support 5 and the second pulley support 9, and the first pulley 4 and the second pulley 10 is the same.
As shown in fig. 4, the high-voltage wire tension adjusting device comprises a first ratchet clamp 2, a second ratchet clamp 12, a first spring dynamometer 3, a second spring dynamometer 11, a high-voltage wire 6 and a damper 8; one end of the first ratchet clamp 2 is fixedly connected with the first I-shaped steel support 1 through a bolt, the other end of the first ratchet clamp is connected with a hook of the first spring dynamometer 3 through a hook, one end of the second ratchet clamp 12 is fixedly connected with the second I-shaped steel support 13 through a bolt, and the other end of the second ratchet clamp is connected with a hook of the second spring dynamometer 11 through a hook; the high-voltage wire 6 is connected with the hooks at the other ends of the first spring dynamometer 3 and the second spring dynamometer 11 through the first pulley and the second pulley support 9.
As shown in fig. 5, the wheel-type wire-hanging robot 7 mainly comprises a first motor 15, a travelling wheel 16 and a control box 18; one end of the first motor 15 is fixedly connected with the supporting structure 14 through a bolt; the travelling wheel is connected with the output shaft of the first motor through a bolt and can rotate along with the rotation of the output shaft; the control box 18 is fixed to the lower end of the support structure by means of angle aluminium.
The second robot experiment platform comprises a platform frame, a gradient adjusting device, a transmission device and a wheel-type wire hanging robot. The platform frame comprises a fixed bracket 19, a first bearing seat 22, a second bearing seat 35, a laser displacement sensor mounting plate 37 and an encoder mounting plate 34; the first bearing seat 22 and the second bearing seat 35 are fixedly connected with the fixed bracket 19 through bolts; the laser displacement sensor mounting plate 37 is fixedly connected with the fixed bracket 19 through bolts; one end of the encoder mounting plate 34 is fixedly connected with the second bearing 35 by bolts.
The gradient adjusting device comprises an electric push rod 32, a first electric push rod support 38, a second electric push rod support 39, a bearing seat support plate 27, a third bearing seat 28, a fourth bearing seat 31, an arc-shaped guide rail 26 and an arc-shaped guide rail sliding block 40; the first electric push rod support 38 is fixedly connected with the fixed bracket 19 through bolts; both ends of the electric push rod 32 are respectively connected with the first electric push rod support 38 and the second electric push rod support 39, and can rotate around the shaft of the first electric push rod support 38 and the second electric push rod support 39; the bearing seat support plate 27 is connected with the second electric push rod support 39 through bolts, and one end of the bearing seat support plate is connected with the arc-shaped guide rail slide block 40 through bolts; the arc-shaped guide rail slide block 40 is arranged on the arc-shaped guide rail 26 and can slide on the arc-shaped guide rail 26; the arc-shaped guide rail 26 is fixed on the fixed bracket through bolts; the third bearing housing 28 and the fourth bearing housing 31 are fixed to the bearing housing support plate 27 by bolts.
The transmission device comprises a variable frequency motor 20, a coupler 21, an endless annular high-voltage wire 25, a first transmission belt pulley 24, a first transmission shaft 23, a second transmission belt pulley 30 and a second transmission shaft 29; the variable frequency motor 20 is fixed on the fixed bracket 19 through bolts; the first transmission shaft 23 is connected with the output shaft of the variable frequency motor 20 through a coupler 21 and is supported through a first bearing seat 22 and a second bearing seat 35; the second drive shaft 29 is supported by a third bearing housing 28 and a fourth bearing housing 31; the first driving belt wheel 24 and the second driving belt wheel 30 are respectively fixed on the first driving shaft 23 and the second driving shaft 29 and can rotate along with the first driving shaft 23; the endless high-voltage wire 25 is sleeved on the first driving belt pulley 24 and the second driving belt pulley 30, and the second driving belt pulley 30 is driven to rotate by the rotation of the first driving belt pulley. The wheel type wire hanging robot and the first robot experiment platform have the same structure.
The sensor group comprises an inertial navigation device 17, a first encoder, a laser displacement sensor 36 and a full-through hole encoder 33; the inertial navigation device 17 is arranged on a supporting structure of the wheel-type on-line robot; the first encoder is a first motor of the wheel-type wire-hanging robot; the laser displacement sensor 36 is mounted on a laser displacement sensor mounting plate 37; the full through hole encoder 33 is installed on encoder mounting panel 34, overlaps in the transmission shaft one end of second robot experiment platform through set screw.
The experimental process of the high-voltage wire wheel type wire hanging robot experimental platform is as follows: the first robot experiment platform experiment process: firstly, obtaining a climbing angle required by a wheel-type line-hanging robot according to experimental requirements; then the angle of the first robot experiment platform is adjusted, as shown in fig. 1, 2, 3 and 4, a fixing bolt between the first I-steel support 1 and the first pulley support 5 is loosened, the first pulley support 5 can move up and down in a through hole in the middle of the first I-steel support 1, then the first pulley support 5 is moved to a scale position of a required climbing angle, the fixing bolt is screwed, and the tensioning force of the high-voltage wire 6 is adjusted to a required size through the first ratchet clamping device 2 and the first spring dynamometer 3 at two ends and the second ratchet clamping device 12 and the second spring dynamometer 11. In the walking process of the wheel type wire-hanging robot, the damper 8 can verify the obstacle crossing capability of the robot, the measurement signals of the inertial navigation device 17 and the first encoder are transmitted to the controller 37, the controller 37 analyzes and processes the signals to obtain the integral movement speed of the wheel type wire-hanging robot and the running speed of the travelling wheel 16 of the wheel type wire-hanging robot, and the two speed values can be compared to judge whether the robot slips in the walking process.
The second experiment platform experiment process: as shown in fig. 6 and 7, firstly, the height of the electric push rod 32 is obtained according to the experiment requirement, after the controller inputs a control command, the second experiment platform receives the control command and then adjusts the height of the electric push rod through a servo motor of the electric push rod, then the wheel type wire-hanging robot is placed on the endless annular high-voltage wire 25, so that the wheel groove of the wheel is completely contacted with the high-voltage wire, the variable frequency motor 20 of the second experiment platform is opened, the variable frequency motor 20 drives the first transmission shaft 23 and the first transmission belt pulley 24 to rotate through the coupler 21, then drives the second transmission belt pulley 30 to rotate through the endless annular high-voltage wire 25, meanwhile, the power supply of the wheel type wire-hanging robot is started, at the moment, the signal of the first encoder of the first motor is transmitted to the controller, the controller analyzes and processes the signal, then the speed of the variable frequency motor 20 is adjusted, so that the speeds of the endless annular high-voltage wire 25 and the wheel type wire-hanging robot are identical, however, in the actual situation, the speeds of the endless high-voltage wire 25 and the travelling wheel always have errors, so that the robot walks left and right on the endless high-voltage wire 25, a laser displacement sensor 36 is arranged beside the robot, the measuring signal of the laser displacement sensor 36 is transmitted to the controller and fed back to the variable frequency motor 20, the speed of the variable frequency motor 20 is adjusted to keep the robot at the middle position of the endless high-voltage wire 25 as much as possible, the abrasion loss of the travelling wheel of the wheel-type wire-hanging robot under each working time can be tested through the working time of the test platform, in addition, when the battery capacity of the robot is exhausted, the robot approaches to one side of the laser displacement sensor 36, the sensor signal is fed back to the variable frequency motor 20 to stop rotating, the measuring signal of the full-through hole encoder 33 is transmitted to the controller, the controller analyzes and processes the signals to obtain the battery endurance time and mileage of the wheel-type on-line robot in the working process, and the height of the electric push rod 32 can be adjusted by the controller at any time in the experimental process to simulate the working conditions of different gradients.
It should be understood that the above description is not intended to limit the invention to the particular embodiments disclosed, but to limit the invention to the particular embodiments disclosed, and that the invention is not limited to the particular embodiments disclosed, but is intended to cover modifications, adaptations, additions and alternatives falling within the spirit and scope of the invention.
Claims (8)
1. The high-voltage wire wheel type wire hanging robot experiment platform is characterized by comprising a controller, a first platform, a wheel type wire hanging robot and a second platform, wherein the controller is respectively in wireless connection with the first platform, the wheel type wire hanging robot and the second platform;
the first platform comprises two groups of supporting devices, each supporting device comprises an I-shaped steel support, a pulley support and a pulley, the I-shaped steel supports are vertically arranged along the length direction, a pulley support plate is arranged in an I-shaped groove on one side of the top of each I-shaped steel support, the top of each pulley support plate outwards extends to form the pulley support, the pulley support bottom is provided with a pulley, a high-voltage wire is arranged on each pulley, the high-voltage wire tensioning force adjusting device is arranged at the bottom of each I-shaped steel support, the middle part of each high-voltage wire is lapped on each two pulleys, and two ends of each high-voltage wire tensioning force adjusting device are respectively connected with each other;
the second platform comprises a platform frame, a gradient adjusting device and a transmission device, wherein the platform frame comprises a fixed support, bearing seats, a laser displacement sensor mounting plate and a full-through hole encoder mounting plate, an opening is formed in one side of the top of the fixed support, two opposite bearing seats are formed in the other side of the top of the fixed support, a push rod fixing plate is arranged on the side, adjacent to the opening, of the fixed support along the width, and a guide rail fixing plate is arranged on the side, adjacent to the opening, of the fixed support along the length;
the gradient adjusting device comprises an electric push rod, a bearing seat supporting plate, an arc-shaped guide rail and a guide rail sliding block, wherein two opposite bearing seats are arranged on the bearing seat supporting plate, the electric push rod comprises a push rod and a driving motor, the push rod and the driving motor are connected through a gear assembly, one end of the push rod is hinged to the bottom of the bearing seat supporting plate, the other end of the push rod is hinged to a push rod fixing plate, the arc-shaped guide rail is arranged on the guide rail fixing plate, the guide rail sliding block is arranged in the arc-shaped guide rail, and one end of the guide rail sliding block is fixedly connected with the bearing seat supporting plate;
the transmission device comprises a variable frequency motor, a coupling, a non-joint annular high-voltage wire, a transmission belt wheel and a transmission shaft, wherein the transmission shaft is arranged between two opposite bearing seats, the transmission belt wheel is arranged in the middle of the transmission shaft, the non-joint annular high-voltage wire is connected with two groups of transmission belt wheels on a fixed support and two groups of transmission belt wheels on a bearing seat support plate, and the variable frequency motor is connected with the transmission belt wheels on the fixed support through the coupling.
2. The high-voltage wire wheel type line hanging robot experiment platform according to claim 1, wherein a through hole for fixing a pulley support plate is arranged in an I-shaped groove of the I-shaped steel support, the through hole extends along the height direction of the I-shaped steel support, two parallel groups are arranged, the pulley support plate is fixed in the I-shaped groove through the matching of a bolt and the through hole, and scales along the length of the through hole are arranged on one side of the through hole.
3. The high-voltage wire wheel type wire hanging robot experiment platform according to claim 2, wherein the high-voltage wire tensioning force adjusting devices are provided with two groups, each group comprises a ratchet clamp and a spring dynamometer, one end of each spring dynamometer is connected with a high-voltage wire, the other end of each spring dynamometer is connected with the corresponding ratchet clamp, and the ratchet clamps are fixed on the I-steel support through bolts at one ends of the ratchet clamps.
4. The high-voltage wire wheel type wire-hanging robot experimental platform according to claim 3, wherein the wheel type wire-hanging robot comprises a travelling wheel, a supporting structure, a motor, an inertial navigation device and a control box, a motor encoder is arranged in the motor, the motor is fixedly connected with the top of the supporting structure, the travelling wheel is connected with an output shaft of the motor through a bolt, the control box is fixed at the lower end of the supporting structure through angular aluminum, and the inertial navigation device is arranged at the top of the control box.
5. The experiment platform of the high-voltage wire wheel type wire hanging robot of claim 4, wherein the laser displacement sensor mounting plate is arranged on one side of the transmission belt wheel on the fixed support, and one end of the full-through hole encoder mounting plate is fixedly connected with the bearing seat on the fixed support through bolts.
6. A method for using the high-voltage wire wheel type wire-hanging robot experiment platform, which is characterized in that the high-voltage wire wheel type wire-hanging robot experiment platform according to claim 5 is used, and comprises the following steps:
when the first platform is used, the climbing angle required by the wheel-type wire hanging robot is obtained, the angle of the first platform is adjusted, a fixing bolt between the I-steel support and the pulley support is loosened, the pulley support can move up and down in a through hole in the middle of the I-steel support, then the pulley support is moved to the scale position of the required climbing angle, the fixing bolt is screwed, and the tensioning force of the high-voltage wire is adjusted to the required size through ratchet clamps at two ends and a spring dynamometer;
in the running process of the wheel type wire-hanging robot, the damper can verify the obstacle crossing capability of the robot, the measuring signals of the inertial navigation device and the motor encoder are transmitted to the controller, the controller analyzes and processes the signals to obtain the integral movement speed of the wheel type wire-hanging robot and the running speed of the running wheel of the wheel type wire-hanging robot, and the two speed values are compared to judge whether the robot slips in the running process;
when the second platform is used, the height of the electric push rod is obtained, the controller inputs a control instruction to adjust the height of the electric push rod, the wheel type wire hanging robot is placed on the endless annular high-voltage wire, the wheel groove of the wheel type wire hanging robot travelling wheel is fully contacted with the endless annular high-voltage wire, the variable frequency motor is opened, the variable frequency motor drives the transmission shaft on the fixed support through the coupler and rotates through the transmission belt wheel, then the transmission belt wheel of the bearing seat support plate is driven to rotate through the endless annular high-voltage wire, the wheel type wire hanging robot power supply is started, at the moment, signals of the motor encoder are transmitted to the controller, the controller analyzes and processes the signals, and then the speed of the variable frequency motor is adjusted, so that the speeds of the endless annular high-voltage wire and the wheel type wire hanging robot travelling wheel are identical.
7. The method for using the high-voltage wire wheel type wire hanging robot experiment platform according to claim 6, wherein the measuring signals of the laser displacement sensor are transmitted to the controller and fed back to the variable frequency motor, the robot is kept at the middle position of the endless annular high-voltage wire by adjusting the speed of the variable frequency motor, and the abrasion loss of the travelling wheel of the wheel type wire hanging robot under each working time can be tested through the working time of the experiment platform.
8. The method for using the high-voltage wire-hanging robot experimental platform according to claim 7, wherein when the battery of the wire-hanging robot is exhausted, the wire-hanging robot approaches to one side of a laser displacement sensor, a signal of the laser displacement sensor is fed back to a variable frequency motor to stop rotating, a measuring signal of a full-through hole encoder is fed to a controller at the moment, the controller analyzes and processes the signal to obtain the battery endurance time and the mileage of the wire-hanging robot in the working process, and the height of an electric push rod can be adjusted by the controller at any time in the experimental process to simulate the working conditions of different gradients.
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105424397A (en) * | 2015-12-22 | 2016-03-23 | 广东科凯达智能机器人有限公司 | Performance testing platform of power transmission line polling robot |
| CN211425853U (en) * | 2020-01-17 | 2020-09-04 | 佛山非夕机器人科技有限公司 | Robot joint testing device |
| CN113241661A (en) * | 2021-04-22 | 2021-08-10 | 贵州电网有限责任公司 | Multi-functional inspection robot of suspension type |
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- 2021-09-07 CN CN202111040893.9A patent/CN113752237B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105424397A (en) * | 2015-12-22 | 2016-03-23 | 广东科凯达智能机器人有限公司 | Performance testing platform of power transmission line polling robot |
| CN211425853U (en) * | 2020-01-17 | 2020-09-04 | 佛山非夕机器人科技有限公司 | Robot joint testing device |
| CN113241661A (en) * | 2021-04-22 | 2021-08-10 | 贵州电网有限责任公司 | Multi-functional inspection robot of suspension type |
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Effective date of registration: 20231229 Address after: 272000 meters south of Hongxiang Road and east of Jiahe Road in Jining Economic Development Zone, Jining City, Shandong Province Patentee after: Shandong baisde Power Technology Co.,Ltd. Address before: 579 qianwangang Road, Huangdao District, Qingdao City, Shandong Province Patentee before: SHANDONG University OF SCIENCE AND TECHNOLOGY |