CN116787457A - Operation type intelligent foot robot applied to electric power inspection and control method - Google Patents
Operation type intelligent foot robot applied to electric power inspection and control method Download PDFInfo
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Abstract
The application belongs to the technical field of electric power inspection robots, and particularly discloses an operation type intelligent foot type robot applied to electric power inspection and a control method. The four-foot bionic robot comprises a machine body frame, a right front leg, a right rear leg, a left front leg, an industrial personal computer, a front stereoscopic vision sensor, a rear stereoscopic vision sensor and a three-dimensional solid-state laser radar, and high-precision environment perception can be achieved through the carried sensors. Meanwhile, the five-degree-of-freedom serial mechanical arm is combined with the four-foot robot, so that special tasks such as target acquisition, object grabbing and the like can be executed in a complex electric power inspection scene; different leg configurations can be selected according to actual conditions through the legs with the transmission, and meanwhile, the bionic control method of the robot is provided, and the method can realize unified control of the five-degree-of-freedom serial mechanical arm and the four-foot robot.
Description
Technical Field
The application belongs to the technical field of power inspection robots, and particularly relates to an operation type intelligent foot type robot applied to power inspection and a control method.
Background
With the progress of technology, national economy is continuously developed, and electric power is closely related to people. The production and living standard of the current society is continuously improved, and people cannot support the electric power in the clothes and the food. The reliability and safety of substations as important hinges for power transmission have been of interest. The inspection work of the transformer substation occupies about 40% of the work of the power grid transformer substation, and along with the continuous increase of the number of the transformer substations, the inspection efficiency is fundamentally reduced, and the timeliness and the effectiveness of inspection are difficult to guarantee. Along with the rapid development of robot technology, more and more intelligent inspection robots are used for power equipment detection and monitoring, so that the manual work load of inspection is reduced, errors in the inspection process are reduced, the inspection quality and efficiency are fundamentally improved, and the stability and effectiveness of transformer substation movement are improved.
The intelligent inspection robot is mainly divided into daily inspection according to functional attributes, can perform inspection work at fixed time, fixed point and fixed track, and collects data through video monitoring. The intelligent inspection robot acquires external environment information through various carried sensors, detects corresponding index data of the transformer substation, and transmits relevant data to a central control room. At present, intelligent inspection robots are mainly divided into rail type, ground movable type and the like. The track type intelligent inspection robot is commonly used in indoor environments and needs to be subjected to environmental transformation; the ground mobile intelligent inspection robot can be suitable for indoor and outdoor environments, and meanwhile, environment transformation is not needed, so that the ground mobile intelligent inspection robot is one of the development trends of the intelligent inspection robot. The ground mobile intelligent inspection robot is divided into three typical structures of a wheel type, a crawler type and a foot type according to the form of a robot body, wherein the wheel type robot body has higher movement efficiency, and is more applied to inspection of a transformer substation at present, but the environmental adaptability of the wheel type robot is poor; the crawler-type robot body can overcome a certain complex environment, but has larger vibration in the running process and larger influence on carried instruments and equipment; compared with other two types of robot bodies, the foot-type robot body can adapt to intelligent inspection tasks in complex environments, satisfies changeable environments indoors and outdoors of a transformer substation, has higher flexibility and convenience, and can replace manual inspection operation to a greater extent.
As the inspection task becomes more and more complex, a part of sensor devices are required to approach or even abut against a detection object, such as a partial discharge sensor, and therefore, the current task requirement cannot be met only by carrying the sensor on the mobile robot body.
The foregoing background is only for the purpose of providing an understanding of the inventive concepts and technical aspects of the present application and is not necessarily prior art to the present application and is not intended to be used as an aid in the evaluation of the novelty and creativity of the present application in the event that no clear evidence indicates that such is already disclosed at the date of filing of the present application.
Disclosure of Invention
The application aims to provide an operation type intelligent foot robot applied to electric power inspection and a control method thereof, which overcome the defects and the shortcomings of the prior art that the electric power inspection robot performs tasks such as object grabbing, equipment operation, target information acquisition and the like and the problem of poor environmental adaptability.
In order to achieve the above purpose, the application adopts the following technical scheme:
an operation type intelligent foot robot applied to electric power inspection, comprising:
the four-foot bionic robot main body comprises four mechanical legs with the same structure, wherein each mechanical leg has three degrees of freedom; the five-degree-of-freedom serial mechanical arm is arranged at the back of the four-foot bionic robot and is provided with five joints for controlling the movement of the mechanical arm.
Preferably, the five-degree-of-freedom serial mechanical arm comprises a first joint module, a second joint module, a third joint module, a fourth joint module and a fifth joint module;
the first joint module is arranged on the back of the quadruped bionic robot and is upwards connected with a first joint output flange; the second joint module is fixedly connected to the first joint output flange, the second joint module is connected with a large arm connecting rod through a second joint output shaft, and one end of the large arm connecting rod, which is far away from the second joint output shaft, is hinged with a small arm connecting rod; the third joint module is arranged in the large arm connecting rod and drives the small arm connecting rod to move through a small arm connecting rod driving mechanism; the fourth joint module is arranged at the tail end of the small arm connecting rod, a fourth joint output flange is further arranged at the tail end of the small arm connecting rod, and the fourth joint module can rotate around the fourth joint output flange shaft; the fifth joint module is arranged on the fourth joint module, and the fifth joint module is connected with a fifth joint output flange and can drive the fifth joint output flange to rotate so as to drive a workpiece at the tail end of the mechanical arm to move.
Preferably, the forearm connecting rod driving structure comprises a third joint driving screw rod, a third joint driving sliding block and a forearm rotating telescopic supporting rod; the third shutdown driving screw rod passes through the third joint driving sliding block and is connected to the tail end of the large arm connecting rod, and the third joint driving sliding block is connected with the small arm connecting rod through the small arm rotating telescopic supporting rod; the third joint module drives the third joint driving screw rod to rotate.
Preferably, the first joint module, the second joint module, the third joint module, the fourth joint module and the fifth joint module are all composed of a servo motor, a speed reducer, a driving circuit and a braking device.
Preferably, the four-foot bionic robot comprises a machine body frame, an industrial personal computer, a front stereoscopic vision sensor, a rear stereoscopic vision sensor and a three-dimensional solid-state laser radar; the industrial personal computer is arranged in the quadruped bionic robot frame, and the mechanical legs are fixedly arranged at two sides of the frame through leg transverse hip joints; the front stereoscopic vision sensor and the three-dimensional solid-state laser radar are fixedly arranged on the front frame of the machine body and used for detecting the environmental condition in the advancing direction; the rear stereoscopic vision sensor is fixedly arranged on the machine frame at the back of the machine frame, and can perform multidirectional detection and auxiliary image construction.
Preferably, the mechanical leg comprises a foot part, a lower leg connecting rod, a thigh connecting rod, a knee joint driving motor, a longitudinal hip joint driving motor, a transverse hip joint driving motor, a knee joint transmission shaft, a transmission belt and a knee joint driving motor output shaft;
the transverse hip joint driving motor is fixedly connected with the machine body frame; the longitudinal hip joint driving motor is fixedly connected with the transverse hip joint driving motor through a transverse and longitudinal hip joint connecting piece; the knee joint driving motor is fixedly arranged on the outer side of the longitudinal hip joint driving motor, the knee joint driving motor controls the knee joint transmission shaft through the transmission belt and the knee joint driving motor output shaft, the knee joint transmission shaft is fixedly connected with the shank connecting rod, and the thigh connecting rod is connected with the shank connecting rod through a knee joint.
Preferably, the outer part of the foot is a spherical foot end sphere, and the inner part of the foot is designed with a cross framework.
Preferably, a knee joint driving motor protection cover plate is arranged on the outer side of the knee joint driving motor.
The control method is applicable to the operation type intelligent foot type robot applied to the power inspection, and is used for constructing a mathematical model of a neural generator neuron; constructing a control network structure of a central mode generator comprising a control network of the quadruped bionic robot and a control network of a five-degree-of-freedom serial mechanical arm; coupling a central mode generator neuron corresponding to a first joint module of the five-degree-of-freedom serial mechanical arm with a central mode generator neuron corresponding to a transverse hip joint of a mechanical leg of the quadruped bionic robot; and (3) obtaining the phase according to the output signals of the neurons of the central pattern generator, and controlling each joint of the intelligent foot-type inspection robot through a track control function.
Preferably, the mathematical model of the central generator neuron is of the formula:
where i, j are the serial numbers of the oscillators, x and y are the mutually coupled output signals, and the curve of y is used for the joint driving signal, which can be passed through the oscillation frequency w i The step frequency of the robot is controlled,is the limit radius of the neurons of the central mode generator, a is the parameter affecting the convergence speed of the oscillators, delta is the coupling coefficient between the oscillators, < ->Is the phase difference between the ith and jth oscillators, r i Is the limitRadius of the circle.
Compared with the prior art, the application has the following beneficial effects:
1. according to the four-foot robot with the five-degree-of-freedom serial mechanical arm, special tasks such as target acquisition and object grabbing can be realized under a complex scene;
2. according to the application, the special structural design of the legs can realize multi-pose conversion of the four-foot robot in a complex scene, and the four-foot bionic robot can quickly turn around and turn around, so that the environmental adaptability of the four-foot bionic robot is improved;
3. the application provides a robot bionic control method based on a central mode generator, which can realize unified control of a five-degree-of-freedom serial mechanical arm and a four-foot robot.
Drawings
FIG. 1 is an overall block diagram of an intelligent foot robot of the present application;
FIG. 2 is a block diagram of a five degree of freedom serial mechanical arm of the present application;
FIG. 3 is a diagram of the internal architecture of a five degree of freedom serial mechanical arm of the present application;
FIG. 4 is an ergonomic view of the four-legged robot of the present application;
FIG. 5 is a top plan view of the four-legged robot of the present application;
FIG. 6 is a diagram of a four-legged robot leg according to the present application;
FIG. 7 is a diagram of the internal structure of a four-legged robot leg of the present application;
FIG. 8 is a schematic view of a foot portion of a four-legged robot of the present application;
FIG. 9 is a diagram showing a standing configuration of the four-legged robot with the front and rear legs bent outwardly;
fig. 10 is a block diagram of a control network of a central pattern generator of a four-legged robot according to the present application.
The main reference numerals illustrate:
1-four-foot bionic robot, 101-fuselage frame, 102-right front leg, 103-rear right leg, 104-left rear leg, 105-left front leg, 106-industrial personal computer, 107-front stereo vision sensor, 108-three-dimensional solid laser radar, 109-rear stereo vision sensor, 2-five-degree-of-freedom serial mechanical arm, 201-first joint module, 202-first joint output flange, 203-second joint module, 204-second joint base, 205-large arm connecting rod, 206-small arm connecting rod, 207-small arm connecting rod left guard plate, 208-small arm connecting rod right guard plate, 209-small arm terminal base, 210-fourth joint module, 211-fourth joint output flange, 212-fourth joint auxiliary installation base, 213-fifth joint module, 214-fifth joint output flange, 215-second joint output shaft, 216-third joint module, 217-third joint driver base, 218-third joint drive screw, 219-third joint drive slider, 220-forearm rotation telescopic support rod, 301-foot, 302-calf link, 303-knee joint, 304-thigh link, 305-knee joint drive motor protective cover plate, 306-knee joint drive motor, 307-longitudinal hip joint drive motor, 308-transverse and longitudinal hip joint connector, 309-transverse hip joint drive motor, 310-knee joint drive shaft, 311-drive belt, 312-knee joint drive motor output shaft, 313-drive belt protective cover plate.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
In the description of the present application, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "inside", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the apparatus or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application.
In the description of the present application, a number means one or more, a number means two or more, and greater than, less than, exceeding, etc. are understood to not include the present number, and above, below, within, etc. are understood to include the present number. The terms "first," "second," "third," and the like, if any, are used for descriptive purposes only and for distinguishing between technical features and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present application, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "configured" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present application will be understood in specific cases by those of ordinary skill in the art. Hereinafter, an embodiment of the present application will be described in accordance with its entire structure.
Referring to fig. 1, the application provides an operation type intelligent foot robot, which structurally comprises a four-foot bionic robot 1 and a five-degree-of-freedom serial mechanical arm 2, wherein the five-degree-of-freedom serial mechanical arm 2 is arranged on the back of the four-foot bionic robot 1.
Referring to fig. 2 and 3, the five-degree-of-freedom serial mechanical arm 2 includes: the first joint module 201, the first joint output flange 202, the second joint module 203, the second joint base 204, the large arm connecting rod 205, the small arm connecting rod 206, the small arm connecting rod left guard 207, the small arm connecting rod right guard 208, the small arm end base 209, the fourth joint module 210, the fourth joint output flange 211, the fourth joint auxiliary mounting base 212, the fifth joint module 213, the fifth joint output flange 214, the second joint output shaft 215, the third joint module 216, the third joint driver base 217, the third joint driving screw 218, the third joint driving slider 219 and the small arm rotation telescopic support rod 220; the first joint module 201, the second joint module 203, the third joint module 216, the fourth joint module 210, and the fifth joint module 213 are all composed of a servo motor, a speed reducer, a driving circuit, and a braking device, the first joint module 201 and the second joint module 203 adopt devices with the same specification such as a servo motor and a speed reducer, and the third joint module 216, the fourth joint module 210, and the fifth joint module 213 adopt devices with the same specification such as a servo motor and a speed reducer.
Referring to fig. 1, 2 and 3, the five-degree-of-freedom serial mechanical arm 2 has five degrees of freedom; the first joint module 201 is fixedly installed on the back of the quadruped robot 1 through a base, and is connected with the first joint output flange 202 upwards; the second joint module 203 is fixedly connected to the first joint output flange 202 through the second joint base 204, and can rotate along with the first joint output flange 202; the second joint module 203 is connected with the large arm connecting rod 205 through the second joint output shaft 215, so that the large arm connecting rod 205 can be controlled to swing through the second joint module 203; the other end of the big arm connecting rod 205 is hinged with the small arm connecting rod 206 and is fixedly supported by the left guard plate 207 and the right guard plate 208 of the small arm connecting rod; a hollow groove is formed in the big arm connecting rod 205, and the third joint module 216, the third joint driver base 217, the third joint driving screw 218, the third joint driving sliding block 219 and the small arm rotation telescopic supporting rod 220 are installed; the third joint driver base 217 is fixed inside the big arm link 205, the third joint module 216 is mounted on the big arm link 205 through the third joint driver base 217, and is connected to the tail end of the big arm link 205 through the third joint driving screw 218 and the third joint driving slider 219, and the third joint driving slider 219 is connected to the small arm link 206 through the small arm rotation telescopic support rod 220, so as to support the small arm link 206 to rotate; the third joint driving screw 218 is driven to rotate by controlling the servo motor in the third joint module 216 to rotate, so that the third joint driving slider 219 is driven to slide along the direction of the third joint driving screw 218, the forearm rotation telescopic support rod 220 for connecting the third joint driving slider 219 and the forearm link 206 is driven to move, and the forearm link 206 is supported to longitudinally rotate relative to the forearm link 205 around a third joint hinged with the forearm link 205, so that the movement of the mechanical arm is realized.
The arm end base 209 is fixed at the end of the arm link 206, and the fourth joint module 210 and the fourth joint output flange 211 may be mounted at the end of the arm link 206 through the fourth joint auxiliary mounting base 212, where the fourth joint output flange 211 and the fourth joint auxiliary mounting base 212 are fixed at two sides of the arm end base 209, and the fourth joint module 210 is sandwiched between the fourth joint output flange 211 and the fourth joint auxiliary mounting base 212; by driving the servo motor inside the fourth joint module 210 to output torque to the fixed fourth joint output flange 211, the torque acts on the fourth joint module 210 in a reverse direction, so that the fourth joint module 210 rotates around the fourth joint output flange 211 in an axial direction. The fifth joint module 213 is mounted on the fourth joint module 210, the fifth joint output flange 214 is mounted on the fifth joint module 213, and the rotation of the fifth joint output flange 214 at the tail end can be controlled by driving the servo motor inside the fifth joint module 213, so as to drive the workpiece at the tail end of the mechanical arm to move.
Referring to fig. 4, 5 and 6, the four-foot bionic robot body 1 structurally comprises a body frame 101, a right front leg 102, a right rear leg 103, a left rear leg 104, a left front leg 105, an industrial personal computer 106, a front stereo vision sensor 107, a rear stereo vision sensor 109 and a three-dimensional solid-state laser radar 108; the industrial personal computer 106 is installed in the frame 101 to control the whole robot; the right front leg 102, the right rear leg 103, the left rear leg 104 and the left front leg 105 are fixedly arranged on two sides of the machine body through leg transverse hip joints 309; the front stereo vision sensor 107 and the three-dimensional solid-state laser radar 108 are fixedly arranged on the front frame of the frame 101 and are used for detecting the environmental condition in the travelling direction; the rear stereo vision sensor 109 is fixedly installed on the back frame of the frame 101, and can perform multi-directional detection and auxiliary image construction.
Referring to fig. 4, 6 and 7, four mechanical legs 102, 103, 104 and 105 with the same structure include: foot 301, lower leg link 302, knee 303, thigh link 304, knee drive motor protective cover 305, knee drive motor 306, longitudinal hip drive motor 307, transverse longitudinal hip connector 308, transverse hip drive motor 309, knee drive shaft 310, drive belt 311, knee drive motor output shaft 312, drive belt protective cover 313; the mechanical legs 102, 103, 104, 105 have three degrees of freedom relative to the fuselage frame 101, namely lateral hip joint lateral swing, longitudinal hip joint rotation and knee joint rotation;
the transverse hip joint driving motor 309 is fixedly connected with the frame, and by controlling the rotation of the transverse hip joint driving motor 309, the transverse hip joint driving motor can be transmitted to the whole leg structure through the transverse hip joint connecting piece 308 to drive the leg structure to perform transverse side swinging motion relative to the frame 101 of the machine body; the longitudinal hip joint driving motor 307 is fixedly connected with the transverse hip joint driving motor 309 through the transverse and longitudinal hip joint connecting piece 308, and can rotate along with the transverse hip joint driving motor 309, and simultaneously, the longitudinal hip joint driving motor 307 is controlled to realize the longitudinal rotation of the leg structure relative to the machine body frame 101; the knee joint driving motor 306 is fixedly installed at the outer side of the longitudinal hip joint driving motor 307, and is protected by being covered by a knee joint driving motor protection cover plate 305, so that the knee joint driving motor 306 can control the knee joint transmission shaft 310 through the transmission belt 311 and the knee joint driving motor output shaft 312, and the knee joint transmission shaft 310 is fixedly connected with the shank connecting rod 302; by controlling the rotation of the knee joint driving motor 306, torque can be output to the knee joint driving motor output shaft 312, and then the knee joint transmission shaft 310 is driven by the transmission belt 311 according to a belt transmission mode, so that the lower leg connecting rod 302 is driven to rotate longitudinally relative to the thigh connecting rod 304, and the rotation control of the knee joint is realized.
Referring to fig. 6 and 8, the exterior of the foot 301 is a spherical foot end sphere 401, and the interior is designed with a cross skeleton 402; the foot end sphere 401 can be better adapted to the topography and topography with different shapes in a complex environment, and is beneficial to the four-foot bionic robot to better stand; the cross frame 402 in the foot is provided with an opening for connecting the leg with the shank link 302, and meanwhile, the cross frame 402 is provided with a plurality of sensors for detecting the stress condition of the robot standing, etc. so as to adjust the posture of the robot.
Referring to fig. 9, the multi-posture four-foot bionic robot is in a standing state that the front and rear legs of the multi-posture four-foot bionic robot bend outwards relatively; through the leg structure, the multi-pose four-foot bionic robot can perform four pose conversion according to the working environment, and the four pose conversion comprises the following steps: a stance with four legs bending forward and back, a stance with four legs bending backward and back, a stance with front and back legs bending inward and front and back legs bending outward.
As shown in fig. 10, in order to realize flexible control of the operation type intelligent foot robot of the present application, the present application designs a robot bionic control method based on a central pattern generator: wherein MA1, MA2, MA3, MA4 and MA5 sequentially represent 5 joints in total of the five-degree-of-freedom serial mechanical arm; LF1, LF2, and LF3 represent three joints of the left front leg, RF1, RF2, and RF3 represent three joints of the right front leg, LH1, LH2, and LH3 represent three joints of the left rear leg, and RH1, RH2, and RH3 represent three joints of the right rear leg.
1. The mathematical model of the central pattern generator neurons is as follows:
where i, j are the serial numbers of the oscillators, x and y are the mutually coupled output signals, and the curve of y is used for the joint driving signal, which can be passed through the oscillation frequency w i Control robotIs used for the step frequency of (a),is the limit radius of the neurons of the central mode generator, a is the parameter affecting the convergence speed of the oscillators, delta is the coupling coefficient between the oscillators, < ->Is the phase difference between the ith and jth oscillators, r i Is the radius of the limit circle.
2. The intelligent foot-type robot comprises a five-degree-of-freedom serial mechanical arm 2 and a twelve-degree-of-freedom four-foot bionic robot 1; the control network structure of the central pattern generator should comprise a control network of a four-foot bionic robot and a control network of five-degree-of-freedom serial mechanical arms, wherein the four-foot bionic robot adds up 12 joints, and the five-degree-of-freedom serial mechanical arms add up 5 joints, so that the central pattern generator is determined to comprise 17 central pattern generator neurons;
3. coupling a central pattern generator neuron corresponding to a first joint module of the five-degree-of-freedom serial mechanical arm with a central pattern generator neuron corresponding to a transverse hip joint of the four-foot bionic robot mechanical leg 102, 103, 104, 105;
4. in the application, in order to improve the convergence speed of the neurons of the central mode generator, a bidirectional coupling mode is adopted, and the neurons of the central mode generator of the mechanical legs 102, 103, 104 and 105 of the quadruped bionic robot are coupled in a closed loop mode, and as the quadruped bionic robot 1 walks, the output signals y of the neurons of the central mode generator can be directly used for joint position control;
5. since the central pattern generator neuron output signal is y and is a sine function, the phase is found by the arcsine function and the individual joints are controlled by the trajectory control function.
In summary, the application has the following beneficial effects: 1. the four-foot robot with the five-degree-of-freedom serial mechanical arm can realize special tasks of the four-foot bionic robot such as target acquisition, object grabbing and the like in a complex scene; 2. the special structural design of the legs can realize multi-pose conversion of the four-foot robot in a complex scene, and the four-foot bionic robot can quickly turn around and turn around, so that the environmental adaptability of the four-foot bionic robot is improved; 3. the method can realize unified control of the five-degree-of-freedom serial mechanical arm and the four-foot robot.
The foregoing description of specific exemplary embodiments of the application has been presented for the purpose of illustration and description, but it is not intended to limit the application to the precise form disclosed, and it is apparent that many changes and modifications may be made in accordance with the above teachings, and while embodiments of the application have been shown and described, this specific embodiment is merely illustrative of the application and not restrictive, the particular features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner, the exemplary embodiments being selected and described for the purpose of explaining the specific principles of the application and its practical application, so that modifications, substitutions, variations, and various other changes may be made to the embodiments without creatively departing from the principles and spirit of the application as desired by those skilled in the art without departing from the scope of the patent claims.
Claims (10)
1. Be applied to operation type intelligent foot robot that electric power patrolled and examined, its characterized in that includes:
the four-foot bionic robot (1) comprises four mechanical legs with the same structure, wherein each mechanical leg has three degrees of freedom;
the five-degree-of-freedom serial mechanical arm (2) is arranged at the back of the four-foot bionic robot (1), and the five-degree-of-freedom serial mechanical arm is provided with five joints for controlling the movement of the mechanical arm.
2. The intelligent foot robot according to claim 1, wherein the five-degree-of-freedom serial robot arm (2) comprises a first joint module (201), a second joint module (203), a third joint module (216), a fourth joint module (210) and a fifth joint module (213);
the first joint module (201) is arranged on the back of the quadruped bionic robot (1), and the first joint module (201) is upwards connected with a first joint output flange (202);
the second joint module (203) is fixedly connected to the first joint output flange (202), the second joint module (203) is connected with a large arm connecting rod (205) through a second joint output shaft (215), and one end of the large arm connecting rod (205) far away from the second joint output shaft (215) is hinged with a small arm connecting rod (206);
the third joint module (216) is arranged in the large arm connecting rod (205), and the third joint module (216) drives the small arm connecting rod (206) to move through a small arm connecting rod driving mechanism;
the fourth joint module (210) is installed at the tail end of the small arm connecting rod (206), a fourth joint output flange (211) is also installed at the tail end of the small arm connecting rod (206), and the fourth joint module (210) can rotate around the fourth joint output flange (211) shaft;
the fifth joint module (213) is installed on the fourth joint module (210), and the fifth joint module (213) is connected with a fifth joint output flange (214) and can drive the fifth joint output flange to rotate so as to drive the workpiece at the tail end of the mechanical arm to move.
3. The intelligent foot robot of claim 2, wherein the forearm link driving structure comprises a third joint driving screw (218), a third joint driving slider (219) and a forearm rotation telescopic support rod (220);
the third shutdown driving screw rod (218) is connected to the tail end of the large arm connecting rod (205) through the third joint driving sliding block (219), and the third joint driving sliding block (219) is connected with the small arm connecting rod (206) through the small arm rotating telescopic supporting rod (220);
the third joint module (216) drives the third joint driving screw rod (218) to rotate.
4. The intelligent foot robot according to claim 3, wherein the first joint module (201), the second joint module (203), the third joint module (216), the fourth joint module (210) and the fifth joint module (213) are each composed of a servo motor, a speed reducer, a driving circuit and a braking device.
5. The intelligent foot robot applied to electric power inspection according to claim 1, wherein the four-foot bionic robot (1) comprises a machine body frame (101), an industrial personal computer (106), a front stereoscopic vision sensor (107), a rear stereoscopic vision sensor (109) and a three-dimensional solid-state laser radar (108);
the industrial personal computer (106) is arranged in the machine body frame (101), and the mechanical legs are fixedly arranged at two sides of the machine body frame (101);
the front stereoscopic vision sensor (107) and the three-dimensional solid-state laser radar (108) are fixedly arranged on the front frame of the machine body frame (101) and used for detecting the environmental condition in the travelling direction;
the rear stereoscopic vision sensor (109) is fixedly arranged on the back frame of the machine body frame (101) and can perform multi-direction detection and auxiliary image construction.
6. The intelligent foot robot of claim 5, wherein the mechanical leg comprises a foot (301), a lower leg link (302), a thigh link (304), a knee joint drive motor (306), a longitudinal hip joint drive motor (307), a transverse hip joint drive motor (309), a knee joint drive shaft (310), a drive belt (311), and a knee joint drive motor output shaft (312);
the transverse hip joint driving motor (308) is fixedly connected with the machine body frame (101); the longitudinal hip joint driving motor (307) is fixedly connected with the transverse hip joint driving motor (309) through a transverse and longitudinal hip joint connecting piece (308); the knee joint driving motor (306) is fixedly arranged on the outer side of the longitudinal hip joint driving motor (307), the knee joint driving motor (306) controls the knee joint transmission shaft (310) through the transmission belt (311) and the knee joint driving motor output shaft (312), the knee joint transmission shaft (310) is fixedly connected with the shank connecting rod (302), and the thigh connecting rod (304) is connected with the shank connecting rod (302) through the knee joint (303).
7. The intelligent foot robot for electric power inspection according to claim 6, wherein the exterior of the foot (301) is a spherical foot end sphere, and the interior of the foot (301) is designed with a cross skeleton.
8. The intelligent foot robot of claim 6, wherein the outer side of the knee joint driving motor (306) is provided with a knee joint driving motor protection cover plate (305).
9. An operational intelligent foot robot control method applied to power inspection, which is applicable to the operational intelligent foot robot applied to power inspection according to any one of claims 1 to 8, and is characterized in that: constructing a mathematical model of a central generator neuron; constructing a control network structure of a central mode generator comprising a control network of the quadruped bionic robot (1) and a control network of the five-degree-of-freedom serial mechanical arm (2); the method comprises the steps of coupling a central pattern generator neuron corresponding to a first joint module (201) of a five-degree-of-freedom serial mechanical arm (2) with a central pattern generator neuron corresponding to a transverse hip joint of a mechanical leg of a four-foot bionic robot (1); and (3) obtaining the phase according to the output signals of the neurons of the central pattern generator, and controlling each joint of the intelligent foot-type inspection robot through a track control function.
10. The intelligent foot robot control method of claim 9, wherein the mathematical model of the central generator neuron is of the formula:
where i, j are the serial numbers of the oscillators, x and y are the mutually coupled output signals, and the curve of y is used for the joint driving signal, which can be passed through the oscillation frequency w i The step frequency of the robot is controlled,is the limit radius of the neurons of the central mode generator, a is the parameter affecting the convergence speed of the oscillators, delta is the coupling coefficient between the oscillators, < ->Is the phase difference between the ith and jth oscillators, r i Is the radius of the limit circle.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117600624A (en) * | 2024-01-18 | 2024-02-27 | 南昌工程学院 | Welding robot system special for diaphragm wall and diaphragm wall welding method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117600624A (en) * | 2024-01-18 | 2024-02-27 | 南昌工程学院 | Welding robot system special for diaphragm wall and diaphragm wall welding method |
| CN117600624B (en) * | 2024-01-18 | 2024-03-29 | 南昌工程学院 | Welding robot system special for diaphragm wall and diaphragm wall welding method |
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