WO2012139476A1

WO2012139476A1 - Track self-directed moving robot

Info

Publication number: WO2012139476A1
Application number: PCT/CN2012/073591
Authority: WO
Inventors: 智迪; 王芝茗; 姚辰; 葛维春; 李小凡; 刘树新; 王挺; 胡绍刚; 顾洪群; 王�忠; 刘俊德; 罗宇; 赵庆杞; 徐梁; 刘君; 刘敏杰; 闫春生
Original assignee: 辽宁省电力有限公司鞍山供电公司; 中国科学院沈阳自动化研究所
Priority date: 2011-04-12
Filing date: 2012-04-06
Publication date: 2012-10-18
Also published as: CN102736623B; CN102736623A

Abstract

The invention relates to a specialized robot, especially to a track self-directed moving robot. The robot comprises steering frames, a chassis, a current collector, travel switches, a holder, a control system, a slide and located blocks. The two steering frames with the same structure are separated from each other and move on the track respectively. The slide connected with an external power supply is arranged on the track, and a multiple sets of located blocks are symmetrically provided on the two sides of the slide. The chassis is connected with two steering frames respectively. The holder and the control system are respectively mounted on the upper surface of the chassis. The current collector and travel switches are respectively connected on the lower surface of the chassis. The current collector slides on the slide and supplies power to the robot. The travel switches are arranged on two sides of the current collector and the moving tracks of the travel switches are corresponding to the installing positions of the located blocks. The current collector and the travel switches are respectively electrically connected with the control system. The robot of the present invention ensures precise walking and positioning control of planned track path and so on, thus realizing multi-target with continuous fixed-points observation.

Description

Orbital autonomous mobile robot

The invention belongs to the field of special robots, in particular to a track type autonomous mobile robot. Background technique

The inspection of substation equipment plays an extremely important role in ensuring the safe production and reliable operation of the power system. Traditional manual inspection methods are sometimes difficult to detect equipment abnormalities and potential failures in time due to human factors. The application of intelligent mobile robots to conduct substation equipment inspections can give full play to the technical advantages of robots and accomplish tasks that are difficult to complete by manual inspections, thereby improving the quality of inspections and accelerating the process of unattended substation.

At present, the traveling mechanism of the mobile robot has various forms such as a wheel type, a crawler type or a wheel and a track combination type, and the movement is flexible and the obstacle resistance is strong; but such a robot has a large error in the functions of walking, positioning, etc. of the predetermined trajectory. It is difficult to achieve continuous fixed-point observation of multiple targets. And the energy of the mobile robot body is nothing more than the rechargeable battery and the internal combustion engine. With the internal combustion engine, the structure of the robot is much more complicated; and the rechargeable battery has to consider the working time of the robot and the problem of battery charging. Summary of the invention

In order to solve the problem that it is difficult to continuously observe the spot when the mobile robot is inspected and the influence of the rechargeable battery on the working time, the object of the present invention is to provide a orbital autonomous mobile robot. The autonomous mobile robot can be applied to the detection and inspection of substation equipment.

The object of the present invention is achieved by the following technical solutions:

The invention comprises a bogie, a chassis, a current collector, a travel switch, a cloud platform, a control system, a sliding line and a positioning block. The bogies are two, independent of each other, have the same structure, respectively run on the track, and are provided on the track. A sliding line connecting the external power supply is provided with a plurality of sets of positioning blocks symmetrically on both sides of the sliding line; the chassis is respectively connected with two bogies, and a pan/tilt and a control system are respectively installed on the upper surface of the chassis, and the lower surfaces of the chassis are respectively respectively A current collector and a travel switch are connected, and the current collector slides on the sliding line to supply power to the robot. The travel switch is located on both sides of the current collector, and the running track of the travel switch corresponds to the installation position of the positioning block, the current collector and the travel The switches are electrically connected to the control system.

Wherein: the sliding wire is fixed on the rail by a sliding wire fixing frame, the sliding wire is composed of a copper core and an insulating sheath, one end of the current collector is fixed on the lower surface of the chassis, and the other end is in contact with the copper core; The travel switch is arranged before and after the collector, and the travel switch is two, symmetrically disposed on both sides of the track, and the collector is located in the middle of the two-stroke switch;

The bogie includes a driving motor, a fixed frame, an active traveling wheel, a driven traveling wheel, a guiding wheel and a turntable. The active traveling wheel and the driven traveling wheel are independently and rotatably mounted on the fixed frame, and the driving motor is fixed. Connected to the fixed frame, the active traveling wheel is connected with the output shaft of the driving motor; the top of the fixed frame is provided with a turntable, the chassis is placed on the turntable, the turntable is rotatable relative to the chassis, and the bottom of the fixed frame is installed Guide wheel; the fixed frame is a rectangular parallelepiped, both ends of the length direction are "concave" shape, and each of the two branches of "concave" shape is provided with a rotatable guide wheel, and the guide wheels at both ends are divided. The two sides of the track are in rolling contact with the two sides of the track; the central axes of the guide wheels are parallel and perpendicular to the central axes of the active and driven traveling wheels; The hole, the active traveling wheel and the driven traveling wheel are respectively accommodated in two through holes, and the active walking wheel and the driven traveling wheel are in contact with the upper surface of the track; the central axis of the active traveling wheel and the driven traveling wheel The central axis is parallel to each other in the horizontal plane; the middle portion of the fixing frame is a hollow structure, and extends upward to form a support frame, the turntable is rotatably mounted on the top of the support frame; the drive motor is provided with an encoder, the code The device is electrically connected to the control system.

The advantages and positive effects of the present invention are -

1. The invention transmits the electric energy to the control system through the contact friction between the current collector and the sliding wire, and the collision between the travel switch and the positioning block enables the precise walking on the planned orbital path under the action of the digital encoder. Controls such as positioning can achieve continuous fixed-point observation of multiple targets.

2. The invention adopts the track slip line to take power, so that the mobile robot can work continuously for a long time without being restricted by time factors, and does not need to consider the battery charging and the battery life problem, and solves the source of the mobile robot energy, and the continuous working time is arbitrary. , Stable and reliable.

3. The invention adopts power carrier communication technology through the sliding line on the track, and the staff can control the video and communication signals of the mobile robot from a long distance, and the structure is simple and convenient, stable and reliable, and the image instability of the wireless communication is solved, and the signal is Problems such as lag have solved the cable problem of wired communication.

4. The invention adopts double bogie structure, is suitable for various curved rail shapes, has small and flexible turning radius, and the turntable can be angularly changed with respect to the chassis to avoid interference of the mobile robot itself, and realizes the mobile robot in various curved roads. Smooth operation.

5. The bogie of the invention has stable center of gravity, high carrying capacity and stable movement on the track. DRAWINGS

Figure 1 is a schematic perspective view of the present invention;

Figure 2 is a front elevational view of the structure of the present invention;

Figure 3 is a right side view of Figure 2;

4 is a schematic structural view of a power supply mode according to the present invention;

Figure 5 is a schematic structural view of a bogie of the present invention;

Among them: 1 is the bogie, 2 is the chassis, 3 is the track, 4 is the drive motor, 5 is the fixed frame, 6 is the active walking wheel, 7 is the driven walking wheel, 8 is the guiding wheel, 9 is the turntable, 10 is the set Electrical appliances, 11 is the travel switch, 12 is the pan/tilt, 13 is the control system, 14 is the sliding line, 15 is the sliding wire fixing frame, and 16 is the positioning block. detailed description

The invention will be further described in detail below with reference to the accompanying drawings.

As shown in FIGS. 1 to 4, the present invention includes a chassis 2, a current collector 10, a travel switch 11, a pan/tilt head 12, a control system 13, a slide line 14, a positioning block 16, and two bogies 1, two bogies 1 Independent, identical in structure, running on track 3, respectively. The cross section of the rail 3 is "concave", and is fixed by a sliding line in the middle of the "concave" rail along the length of the rail. The frame 15 is fixed with a sliding wire 14 which is composed of a copper core and an insulating sheath. The sliding wire 14 is connected to an external power source, and the external power source supplies power to the sliding wire 14; on both sides of the sliding wire 14, symmetrically arranged Group positioning block 16.

As shown in FIG. 5, the bogie 1 includes a driving motor 4, a fixing frame 5, an active traveling wheel 6, a driven traveling wheel 7, a guiding wheel 8 and a turntable 9, wherein the fixing frame 5 is a rectangular parallelepiped, and both ends of the fixing frame are longitudinally Both are "concave" shapes, and each of the two branches of "concave" shape is provided with a rotatable guide wheel 8, that is, four steering wheels 8 are provided on each bogie 1; guide wheels 8 at both ends They are respectively located outside the track 3 and are in rolling contact with both sides of the track 3. The middle portion of the fixing frame 5 is a hollow structure, and extends upward to form a supporting frame. The turntable 9 is rotatably mounted on the top of the supporting frame by bearings, and is rotatable at an arbitrary angle around its own axis. A through hole is further formed between the hollow portion of the fixing frame 5 and the "concave" structure of each end, and the two through holes are symmetric with the central axis of the fixing frame 5; the driving roller 6 and the driven traveling wheel 7 respectively pass the bearing Installed in a through hole, the driving roller 6 and the driven traveling wheel 7 are in contact with the upper surface of the rail 3 to support the weight of the mobile robot itself. At the "concave" structure at one end, a drive motor 4 is fixed, and the drive wheels 6 are connected to the output shaft of the drive motor 4. The active traveling wheel 6 and the driven traveling wheel 7 are independent of each other, and the active traveling wheel 6 and the driven traveling wheel 7 are not coaxial, that is, the active traveling wheel 6 and the driven traveling wheel 7 have respective central axes, and axes of the two central axes Altogether. The four guide wheels 8 are in front and two are mounted on the fixed frame 5, and the central axes of the guide wheels 8 are parallel to each other and are perpendicular to the central axes of the active traveling wheel 6 and the driven traveling wheel 7, respectively.

The chassis 2, the pan/tilt 12 and the control system 13 constitute a robot body, wherein the chassis 2 is placed on the turntable 9, the two bogies 1 are respectively located at the two ends of the chassis 2 in the longitudinal direction, the turntable 9 is rotatable relative to the chassis 2, and the chassis 2 is passed The turntable 9 is connected to each of the bogies 1. The pan/tilt 12 and the control system 13 are mounted on the upper surface of the chassis 2, the pan/tilt head 12 is a two-degree-of-freedom pan/tilt head, and the control system 13 is a prior art; on the lower surface of the chassis 2, a current collector 10 and a travel switch 11 are respectively fixed. The current collector 10 and the travel switch 11 are located between the two bogies 1 and electrically connected to the control system 13 respectively; one end of the current collector 10 is fixed on the lower surface of the chassis 2, and the other end is in contact with the copper core of the sliding wire 14, Through the contact friction between the current collector 10 and the sliding wire 14, the electric energy is transmitted to the control system 13 of the mobile robot to supply power to the robot; the travel switch 11 and the current collector 10 are disposed before and after, and the travel switch 11 is two, symmetrically disposed on the track 3. On both sides, the current collector 10 is located in the middle of the two-stroke switch 11, and the running track of the travel switch 11 corresponds to the mounting position of the positioning block 16.

The drive motor 4 in the bogie 1 is provided with an encoder which is electrically connected to the control system 13.

The working principle of the invention is:

The drive motor 4 provides power for the movement of the mobile robot on the track 3, and the drive motors 4 of the two bogies 1 work in synchronism. The driving wheel 6 is driven by the driving motor 4 to provide the bogie 1 with the power to travel on the track 3; while the two bogies 1 are traveling on the track, the collector 10 and the sliding wire 14 are in contact with each other to generate electric energy. It is passed to the control system 13. When the mobile robot travels to the positioning block 16, the contact of the travel switch 11 collides with the positioning block 16, and under the action of a digital encoder on the drive motor 4, a signal is sent to the control system 13, controlled by the control system 13, A precise parking of the mobile robot at a predetermined position is achieved, and then a two-degree-of-freedom pan/tilt mounted on the front end of the chassis 2 can perform precise point observation on multiple targets.

When the mobile robot is traveling on a straight track, the bogie 1 is not displaced in the equilibrium position, and each of the guide wheels 8 will roll forward with an effective radius to guide the bogie 1 to travel forward or backward in the direction of the track 3; Robot driving In the curved track, since the driven traveling wheel 7 is a passive wheel, which is not coaxial with the active traveling wheel 6, and is independent of each other, when the bogie 1 is in a curved orbit, the passive walking of the driven traveling wheel 7 solves two The speed problem of the walking wheel. The one- or two-sided guide wheels 8 are subjected to radial pressure on the sides of the rails 3, which will force the bogie 1 back to the equilibrium position; in addition, the two independent bogies 1 can be respectively operated by the turntable 9 The angle change with the chassis 2 avoids the interference of the mobile robot itself, and realizes the smooth operation of the mobile robot on various curves.

The single track is characterized by the use of one track and a small footprint; in addition, the track width is narrow, the track support frame is simple in structure, and the occupied space is small. The invention supports, stabilizes and guides the mobile robot through a single track. The mobile robot is stuck on the track beam through its unique structural form, and can smoothly run. There is no need to consider the deceleration problem of the robot in the turning place, and there is no possibility of derailment.

The chassis 2 in the mobile robot of the present invention can be connected in series with the chassis of the next mobile robot through the connecting shaft, whereby a plurality of mobile robots can be connected in series, such as each car of the train; each mobile robot has a chassis 2 And two bogies 1. When the mobile robot is in a straight track, one chassis 2 can correspond to two or more bogies 1; but if it is in a curved track, only one chassis can correspond to two bogies, otherwise, turning will not be possible at the turn. .

The mobile robot adopts the power carrier communication technology through the sliding line 14. The staff can control the video and communication signals of the mobile robot from a long distance, and the structure is simple and convenient, stable and reliable, and solves the problems of image instability and signal lag of the wireless communication. It also solves the cable problem of wired communication.

Claims

Claim

A track type autonomous mobile robot, comprising: a bogie (1), a chassis (2), a current collector (10), a travel switch (11), a cloud platform (12), a control system (13), The sliding line (14) and the positioning block (16), wherein the bogies (1) are two, independent of each other, have the same structure, and respectively run on the rail (3), and the rail (3) is provided with a slip connecting the external power supply. A plurality of sets of positioning blocks (16) are symmetrically arranged on both sides of the line (14) and the sliding line (14); the chassis (2) are respectively connected to the two bogies (1), respectively on the upper surface of the chassis (2) A pan/tilt (12) and a control system (13) are installed, and the lower surface of the chassis (2) is respectively connected with a current collector (10) and a travel switch (11), and the current collector (10) slides on the sliding line (14). For powering the robot, the travel switch (11) is located on both sides of the current collector (10), the running track of the travel switch (11) corresponds to the installation position of the positioning block (16), the current collector (10) and the travel switch (11) Electrically connected to the control system (13).

2. The orbital autonomous mobile robot according to claim 1, wherein: the sliding wire (14) is fixed on the rail (3) by a wire fixing bracket (15), and the sliding wire (14) is made of a copper core And an insulating sheath composition, one end of the current collector (10) is fixed on the lower surface of the chassis (2), and the other end is in contact with the copper core.

3. The orbital autonomous mobile robot according to claim 1, wherein: the travel switch (11) and the current collector (10) are disposed before and after, and the travel switch (11) is two, symmetrically disposed on the track (3). On both sides, the current collector (10) is located in the middle of the two-stroke switch (11).

4. The orbital autonomous mobile robot according to claim 1, wherein: the bogie (1) comprises a driving motor (4), a fixing frame (5), an active traveling wheel (6), and a driven traveling wheel. (7), the guide wheel (8) and the turntable (9), wherein the active running wheel (6) and the driven traveling wheel (7) are independently and rotatably mounted on the fixed frame (5), and the driving motor (4) Fixed to the fixed frame (5), the active traveling wheel (6) is connected to the output shaft of the driving motor (4); the turntable (9) is provided on the top of the fixing frame (5), and the chassis (2) is placed On the turntable (9), the turntable (9) is rotatable relative to the chassis (2), and a plurality of guide wheels (8) are mounted on the bottom of the mount (5).

5. The orbital autonomous mobile robot according to claim 4, wherein: the fixing frame (5) is a rectangular parallelepiped, and both ends in the longitudinal direction are "concave" shapes, and two in each "concave" shape. Each of the branches is provided with a rotatable guide wheel (8), and the guide wheels (8) at both ends are respectively located outside the rail (3) and are in rolling contact with the two sides of the rail (3).

6. The orbital autonomous mobile robot according to claim 5, wherein: the central axes of the guide wheels (8) are parallel and perpendicular to the active traveling wheels (6) and the driven traveling wheels (7) The central axis.

7. The orbital autonomous mobile robot according to claim 4 or 5, characterized in that: the fixing frame (5) is symmetrically opened with two through holes, an active traveling wheel (6) and a driven traveling wheel (7). ) respectively accommodated in two through holes, the active running wheel (6) and the driven traveling wheel (7) are in contact with the upper surface of the track (3); the central axis of the active traveling wheel (6) and the driven The central axes of the walking wheels (7) are parallel to each other in the horizontal plane.

The orbital autonomous mobile robot according to claim 4 or 5, wherein: the middle portion of the fixing frame (5) is a hollow structure, and extends upward to form a support frame, and the turntable (9) is rotatable Grounded on top of the support frame.

9. A orbital autonomous mobile robot according to claim 4, characterized in that the drive motor (4) is provided with an encoder, which is electrically connected to the control system (13).