CN114986480A - A four-footed robot structure for cable tunnel patrols and examines - Google Patents
A four-footed robot structure for cable tunnel patrols and examines Download PDFInfo
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- CN114986480A CN114986480A CN202210616089.9A CN202210616089A CN114986480A CN 114986480 A CN114986480 A CN 114986480A CN 202210616089 A CN202210616089 A CN 202210616089A CN 114986480 A CN114986480 A CN 114986480A
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- cable tunnel
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- 238000007689 inspection Methods 0.000 claims abstract description 23
- 210000000707 wrist Anatomy 0.000 claims abstract description 17
- 210000000245 forearm Anatomy 0.000 claims abstract description 7
- 230000033001 locomotion Effects 0.000 claims description 17
- 230000007246 mechanism Effects 0.000 claims description 6
- 229920000049 Carbon (fiber) Polymers 0.000 claims description 3
- 239000004917 carbon fiber Substances 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 3
- 239000002131 composite material Substances 0.000 claims description 3
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 3
- 230000016776 visual perception Effects 0.000 claims description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 6
- 238000013461 design Methods 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 3
- 238000005299 abrasion Methods 0.000 description 2
- 230000007797 corrosion Effects 0.000 description 2
- 238000005260 corrosion Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000004020 conductor Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
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Classifications
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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
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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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
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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
- B62D57/032—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 with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a quadruped robot structure for cable tunnel inspection, which comprises a quadruped robot and a mechanical arm, wherein the mechanical arm is arranged at the top end of the back of the quadruped robot, and one end of the mechanical arm, which is far away from the quadruped robot, is connected with a sensing module; the quadruped robot comprises a body main body and four leg structures respectively connected with the body main body, wherein each leg structure comprises a plurality of joints; the mechanical arm comprises a waist base, a mechanical shoulder, a mechanical upper arm, a mechanical forearm, a mechanical wrist and a mechanical clamping jaw which are sequentially connected, a plurality of mounting points are arranged at the end part, far away from the mechanical wrist, of the mechanical clamping jaw, and the sensing module is connected with the mechanical clamping jaw through the mounting points. Compared with the prior art, the invention enables the quadruped robot to easily cross steps, fire door thresholds, accumulated water and the like, and the situation that the moving structure is corroded by the accumulated water can not occur.
Description
Technical Field
The invention relates to the field of cable tunnel inspection robots, in particular to a quadruped robot structure for cable tunnel inspection.
Background
At present, the research direction of the cable tunnel inspection robot mainly comprises a rail type, a crawler type and a wheel type inspection robot.
The track type: the installation work is complicated, and if the rail is placed on the ground, the walking of personnel is influenced. Most of the tunnel top track inspection robots are adopted, the tunnel inspection system can avoid the obstruction of accumulated water on the ground and tunnel fall on inspection, and in addition, the top track type robot can be added with the transmission functions of initial fire treatment, tool bags and first-aid kits on the basic inspection function, and tends to intelligent and humanized development. The problem of this kind of design is that the routing inspection route of patrolling and examining robot has just been fixed in orbital setting, and because orbital existence, the robot can't detect the cable that has the barrier to block. The inspection robot has insufficient freedom and detection range, which results in incomplete detection information and increased operation and maintenance difficulty and cost.
Crawler-type: the crawler-type base has its shortcoming, has the condition of step in the cable tunnel, damages the mechanical structure of crawler-type base easily, and turns to the difficulty, and ponding also easily influences whole track structure's life.
Wheeled robot that patrols and examines: the application is less, the design scheme does not limit the motion track of the inspection robot, the inspection robot can move freely within a certain range, the inspection range of the robot is increased, and more optical cables are detected. The problem of this kind of scheme is because the existence of wheeled structure, the robot can receive the influence of tunnel inside ground ponding, and easy the skidding, and reduce wheeled structure's life. The complex terrain in the tunnel can also influence the movement of the robot, so that the routing inspection path which should be free is not so free.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide a quadruped robot structure for cable tunnel inspection, a motion module is not affected by ground abrasion, accumulated water corrosion and the like, and the maintenance cost is reduced.
The purpose of the invention can be realized by the following technical scheme:
the utility model provides a four-footed robot structure for cable tunnel patrols and examines, includes four-footed robot and arm, the arm is installed four-footed robot's back top, the one end that four-footed robot was kept away from to the arm is connected with sensing module.
Further, the quadruped robot comprises a body main body and four leg structures respectively connected with the body main body, wherein each leg structure comprises a plurality of joints.
Further, each joint comprises a direct current motor, a speed reducing mechanism and a rotary encoder, wherein the direct current motor is connected with the speed reducing mechanism and the rotary encoder respectively.
Further, the rotary encoder is an absolute rotary encoder.
Further, the body main body is integrated with a visual perception system, a motion control system and a network communication system.
Furthermore, the mechanical arm comprises a waist base, a mechanical shoulder, a mechanical upper arm, a mechanical forearm, a mechanical wrist and a mechanical clamping jaw which are sequentially connected, wherein the waist base is provided with a first steering engine which rotates around a horizontal plane and is connected with the mechanical shoulder through the first steering engine; the mechanical shoulder is provided with a second steering engine which rotates around the pitching surface and is connected with the mechanical upper arm through the second steering engine; the mechanical upper arm is provided with an elbow and a third steering engine rotating around the pitching surface and is connected with a mechanical forearm through the third steering engine; the mechanical front arm is provided with a fourth steering engine rotating around a pitching surface and is connected with the mechanical wrist through the fourth steering engine, and the mechanical wrist is provided with a fifth steering engine rotating around a vertical surface and is connected with the mechanical clamping jaw through the fifth steering engine; the horizontal plane, the pitching plane and the vertical plane are vertical to each other in pairs.
Furthermore, a plurality of mounting points are arranged at the end part, far away from the mechanical wrist, of the mechanical clamping jaw, and the sensing module is connected with the mechanical clamping jaw through the mounting points.
Further, the shell structure of the mechanical arm is made of carbon fiber composite materials.
Compared with the prior art, the invention has the following advantages:
(1) compared with the traditional crawler belt, wheel type and rail type in the aspect of motion, the quadruped robot is more excellent in performance of steps, fire door thresholds and accumulated water positions, and the motion module cannot be influenced by ground abrasion, accumulated water corrosion and the like, so that the maintenance cost is reduced.
(2) General cable conductor height all is in a meter or more than a meter in the cable tunnel, carries on the arm on the four-footed robot back, has solved the high not enough while of four-footed robot, has realized 360 degrees real-time supervision around the four-footed robot.
(3) The live working arm of high degree of freedom compares in traditional high degree of freedom arm, and weight lighter makes it can easily carry on at the four-footed robot back, reduces the robot motion balance problem that the arm freely extends and bring in the motion process, and lighter weight has reduced the motion load of four-footed robot simultaneously, has reduced the motion consumption and the generating heat of four-footed robot.
Drawings
Fig. 1 is a schematic structural diagram of a robot provided in an embodiment of the present invention;
in the figure, the waist base is shown as 1, the waist base is shown as 101, the first steering engine is shown as 2, the mechanical shoulder is shown as 201, the second steering engine is shown as 3, the mechanical upper arm is shown as 301, the elbow is shown as 302, the third steering engine is shown as 4, the mechanical forearm is shown as 401, the fourth steering engine is shown as 5, the mechanical wrist is shown as 501, the fifth steering engine is shown as 6, the mechanical clamping jaw is shown as 7, and the mechanical finger is shown as 3.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or the orientations or positional relationships that the products of the present invention are conventionally placed in use, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
It should be noted that the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.
Furthermore, the terms "horizontal", "vertical" and the like do not imply that the components are required to be absolutely horizontal or pendant, but rather may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
Example 1
The embodiment provides a four-footed robot structure for cable tunnel patrols and examines, including four-footed robot and arm, the back top at four-footed robot is installed to the arm, and the one end that four-footed robot was kept away from to the arm is connected with sensing module.
Each part is described in detail below:
one, four-foot robot
The quadruped robot comprises a body main body and four leg structures respectively connected with the body main body, wherein each leg structure comprises a plurality of joints. In this embodiment, each leg structure is provided with 3 joints.
As an alternative embodiment, each joint comprises a dc motor, a speed reducing mechanism and a rotary encoder, and the dc motor is respectively connected with the speed reducing mechanism and the rotary encoder.
Preferably, the rotary encoder is an absolute rotary encoder. The device provides strong power, force control performance and high-precision angle feedback information and meets the requirements of various motion control and gait planning development.
The body main body is integrated with a visual perception system, a motion control system and a network communication system.
Second, the mechanical arm
As shown in fig. 1, the mechanical arm comprises a waist base 1, a mechanical shoulder 2, an upper mechanical arm 3, a mechanical forearm 4, a mechanical wrist 5 and a mechanical clamping jaw 6 which are connected in sequence, wherein the waist base 1 is provided with a first steering engine 101 which rotates around a horizontal plane and is connected with the mechanical shoulder 2 through the first steering engine 101; the mechanical shoulder 2 is provided with a second steering engine 201 rotating around the pitching surface and is connected with the mechanical upper arm 3 through the second steering engine 201; the mechanical upper arm 3 is provided with an elbow 301 and a third steering engine 302 rotating around a pitching surface, and is connected with the mechanical forearm 4 through the third steering engine 302; the mechanical front arm 4 is provided with a fourth steering engine 401 rotating around a pitching surface and connected with a mechanical wrist 5 through the fourth steering engine 401, the mechanical wrist 5 is provided with a fifth steering engine 501 rotating around a vertical surface and connected with a mechanical clamping jaw 6 through the fifth steering engine 501; the horizontal plane, the pitching plane and the vertical plane are vertical to each other and correspond to a Cartesian coordinate system.
Therefore, 5-degree-of-freedom motion of horizontal rotation of the waist, pitching rotation of the shoulder, rotation of the elbow, rotation of the wrist angle and rotation of the wrist is realized, the top end of the mechanical arm can move freely in a hemispheroid range, the mechanical arm is made of carbon fiber composite materials, and the four-legged robot is light in weight, high in precision and wear-resistant, and can relieve the load caused by carrying the mechanical arm and the balance problem caused by extension of the mechanical arm. The first steering engine 101 of the lumbar base 1 provides 360 ranges of motion. The second steering wheel 201 of mechanical shoulder 2 is connected with waist base 1 one end, realizes the luffing motion of whole arm. The third steering gear 302 of the upper mechanical arm 3 is connected with one end of the mechanical shoulder 2.
The arm top adopts the modularized design, makes it carry on different sensing module according to different demands, and the tip that mechanical clamping jaw 6 kept away from mechanical wrist 5 is equipped with a plurality of mounting points promptly, has installed mechanical finger 7 on the mounting point in this embodiment, during the use, can lift mechanical finger 7 off, can change into the sensing module of own needs.
The arm carries on at the four-footed robot back, and arm and four-footed robot accessible preset scheme independently patrol and examine, also can be through the motion of long-range manual control four-footed robot and arm.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations can be devised by those skilled in the art in light of the above teachings. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (8)
1. The utility model provides a four-footed robot structure for cable tunnel patrols and examines, its characterized in that, includes four-footed robot and arm, the arm is installed four-footed robot's back top, the one end that four-footed robot was kept away from to the arm is connected with sensing module.
2. The quadruped robot structure for cable tunnel inspection according to claim 1, wherein the quadruped robot comprises a body main body and four leg structures respectively connected to the body main body, each leg structure comprising a plurality of joints.
3. The quadruped robot structure for cable tunnel inspection according to claim 2, wherein each joint comprises a direct current motor, a speed reducing mechanism and a rotary encoder, and the direct current motors are respectively connected with the speed reducing mechanism and the rotary encoder.
4. The quadruped robot structure for cable tunnel inspection according to claim 3, wherein the rotary encoder is an absolute rotary encoder.
5. The quadruped robot structure for cable tunnel inspection according to claim 2, wherein the body main body is integrated with a visual perception system, a motion control system and a network communication system.
6. The quadruped robot structure for cable tunnel inspection according to claim 1, wherein the mechanical arm comprises a waist base (1), a mechanical shoulder (2), an upper mechanical arm (3), a front mechanical arm (4), a mechanical wrist (5) and a mechanical clamping jaw (6) which are connected in sequence, the waist base (1) is provided with a first steering engine (101) rotating around a horizontal plane, and the first steering engine (101) is connected with the mechanical shoulder (2); the mechanical shoulder (2) is provided with a second steering engine (201) rotating around the pitching surface and is connected with the mechanical upper arm (3) through the second steering engine (201); the mechanical upper arm (3) is provided with an elbow (301) and a third steering engine (302) rotating around a pitching surface, and is connected with a mechanical forearm (4) through the third steering engine (302); the mechanical front arm (4) is provided with a fourth steering engine (401) rotating around a pitching surface and connected with the mechanical wrist (5) through the fourth steering engine (401), the mechanical wrist (5) is provided with a fifth steering engine (501) rotating around a vertical surface and connected with the mechanical clamping jaw (6) through the fifth steering engine (501); the horizontal plane, the pitching plane and the vertical plane are vertical to each other in pairs.
7. The quadruped robot structure for cable tunnel inspection according to claim 6, wherein the end of the mechanical clamping jaw (6) far away from the mechanical wrist (5) is provided with a plurality of mounting points, and the sensing module is connected with the mechanical clamping jaw (6) through the mounting points.
8. The quadruped robot structure for cable tunnel inspection according to claim 6, wherein the shell structure of the mechanical arm is made of carbon fiber composite.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210616089.9A CN114986480A (en) | 2022-05-31 | 2022-05-31 | A four-footed robot structure for cable tunnel patrols and examines |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210616089.9A CN114986480A (en) | 2022-05-31 | 2022-05-31 | A four-footed robot structure for cable tunnel patrols and examines |
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| Publication Number | Publication Date |
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| CN114986480A true CN114986480A (en) | 2022-09-02 |
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| CN202210616089.9A Pending CN114986480A (en) | 2022-05-31 | 2022-05-31 | A four-footed robot structure for cable tunnel patrols and examines |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107756375A (en) * | 2016-08-15 | 2018-03-06 | 深圳市朗驰欣创科技股份有限公司 | A kind of tunnel cruising inspection system and its robot |
| CN108248717A (en) * | 2017-12-28 | 2018-07-06 | 江苏集萃智能制造技术研究所有限公司 | It is a kind of can operated tool have terminal stabilization control function quadruped robot |
| CN113001523A (en) * | 2021-04-09 | 2021-06-22 | 山东大学 | Four-foot double-arm robot and operation mode thereof |
| CN213796500U (en) * | 2020-09-23 | 2021-07-27 | 宁波工业互联网研究院有限公司 | Leg and arm cooperation robot |
| CN215037663U (en) * | 2021-03-15 | 2021-12-07 | 武汉理工大学 | A robot patrols and examines for utility tunnel |
| CN114475848A (en) * | 2022-01-26 | 2022-05-13 | 中国电建集团福建省电力勘测设计院有限公司 | A four-footed robot and unmanned aerial vehicle subassembly for transformer substation patrols and examines usefulness |
-
2022
- 2022-05-31 CN CN202210616089.9A patent/CN114986480A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107756375A (en) * | 2016-08-15 | 2018-03-06 | 深圳市朗驰欣创科技股份有限公司 | A kind of tunnel cruising inspection system and its robot |
| CN108248717A (en) * | 2017-12-28 | 2018-07-06 | 江苏集萃智能制造技术研究所有限公司 | It is a kind of can operated tool have terminal stabilization control function quadruped robot |
| CN213796500U (en) * | 2020-09-23 | 2021-07-27 | 宁波工业互联网研究院有限公司 | Leg and arm cooperation robot |
| CN215037663U (en) * | 2021-03-15 | 2021-12-07 | 武汉理工大学 | A robot patrols and examines for utility tunnel |
| CN113001523A (en) * | 2021-04-09 | 2021-06-22 | 山东大学 | Four-foot double-arm robot and operation mode thereof |
| CN114475848A (en) * | 2022-01-26 | 2022-05-13 | 中国电建集团福建省电力勘测设计院有限公司 | A four-footed robot and unmanned aerial vehicle subassembly for transformer substation patrols and examines usefulness |
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