CN102887187A - Electromagnetic-type intelligent climbing robot - Google Patents
Electromagnetic-type intelligent climbing robot Download PDFInfo
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- CN102887187A CN102887187A CN2012104056897A CN201210405689A CN102887187A CN 102887187 A CN102887187 A CN 102887187A CN 2012104056897 A CN2012104056897 A CN 2012104056897A CN 201210405689 A CN201210405689 A CN 201210405689A CN 102887187 A CN102887187 A CN 102887187A
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Abstract
The invention discloses an electromagnetic-type intelligent climbing robot, comprising a sensing probe and a transmitting module, and further comprising a robot body, wherein the robot body is at least four cavities which are linked together via a horizontal servo motor, the stator of the horizontal servo motor is fixedly installed in one cavity, and the rotor of the horizontal servo motor is fixedly connected with another cavity; and vertical servo motors are further fixedly installed in the head cavity and the tail cavity respectively, and adsorption mechanisms are fixedly installed at the tail ends of the rotors of the vertical servo motors. The electromagnetic-type intelligent climbing robot disclosed by the invention has the advantages of being strong in crossing capacity, and capable of moving on various iron surfaces, detecting iron structures by being carried with various probes, and detecting any angle by virtue of each joint by loading the head ends of the probes and taking the tail end as a reference point in the case that the tail end is adsorbed on the surface of an object.
Description
Technical field
The invention belongs to the robot field, be specifically related to a kind of intelligent climbing robot.
Background technology
Ultra-high-tension power transmission line is the artery of electric system, and a lot of high voltage iron towers are at high mountain top or cliffside, and the safety of steel tower is directly connected to stability and the reliability of power supply.Need regularly electric power line pole tower and annex thereof to be carried out inspection and maintenance, to guarantee the safe and reliable operation of transmission line of electricity.
The mode that the maintenance that present domestic artificial climbing steel tower is ultra-high-tension power transmission line, maintenance are adopted basically, as: insulator detection, cleaning, steel tower maintenance etc., all need manually to finish, this not only consumes the muscle power of service personnel in a large number, affect work efficiency, for the steel tower of the cliffside safety of serious threat service personnel especially.As steel tower staff in aloft work the time, can because open-air natural environment relatively be difficult to comprehensive monitoring such as impacts such as wind, sunlight, always can there be such-and-such safe dead angle in the guardian.
Lasting construction along with high pressure and UHV transmission line, iron tower of power transmission line exhale height more and more higher, power department is in the urgent need to replacing manually climbing the automation equipment that steel tower overhauls, safeguards---robot, to alleviate workman's labour intensity, reduce the danger of electric shock and falling from high altitude.Existing robot architecture is complicated, volume is large, Heavy Weight, is not easy to the service personnel field and carries.
In order to realize fully autonomous climbing, robot is except having along the function of iron tower main material climbing, and also wanting can leaping over obstacles, has by main material to move to turning function on oblique material or the cross-arm.In addition a lot of high voltage iron towers in the open air, so robot to assist or replace manually, must be simple in structure, volume is little, lightweight, be convenient to carry and carry.
Summary of the invention
Given this, the object of the invention is to provide a kind of at iron surface flexible motion, the robot of being good at climbing.
For solving above technical matters, technical scheme provided by the invention is, a kind of electromagnetic intelligent climbing robot is provided, comprise sensing probe and transmitter module, also comprise robot body, this robot body is at least four cavitys that are connected together by the horizontal servo motor train, and the stator of horizontal servo motor is fixedly mounted in the cavity, and the rotor of horizontal servo motor is captiveed joint with another cavity; Also be installed with respectively vertical servomotor in two cavitys of head and the tail, the Rotor terminal of vertical servomotor is installed with adsorbing mechanism.
Further, described adsorbing mechanism is magnetic chuck, uses simultaneously permanent magnet and electromagnet.Permanent magnetism and electromagnetism absorption dual mode adsorb by permanent magnet during no power; The magnetic force that logical direct current (DC) produces and the magnetic force of permanent magnet are cancelled each other, and adsorbing mechanism is broken away from more easily; Oppositely the magnetic force of direct current (DC) generation and the magnetic force of permanent magnet superpose mutually, strengthen adsorption effect.
Preferably, described robot body is by four cavitys of three horizontal servo motor links.
Further, the concrete mounting means of described horizontal servo motor and cavity is: the stator of the first horizontal servo motor is fixedly mounted in the first cavity, and its rotor is captiveed joint with the second cavity; The stator of the second horizontal servo motor is fixedly mounted in the 3rd cavity, and its rotor is captiveed joint with the second cavity; The stator of the 3rd horizontal servo motor is fixedly mounted in the 3rd cavity, and its rotor is captiveed joint with the 4th cavity.Two cavitys form a joint by after the servomotor connection, and such joint can make robot body finish easily bending, stretching.
Further, be separately installed with vertical servomotor in described the first cavity and the 4th cavity.When robot when steel tower is walked, an adsorbing mechanism rotates take another adsorbing mechanism as the center of circle, seeks next adsorption site.
Useful is that electromagnetic intelligent climbing robot span ability of the present invention is strong, can move at various iron surfaces; Simple in structure, volume is little, lightweight, motor direct-drive is all adopted in each joint, the robot architecture who greatly simplifies has also reduced the volume of robot greatly, each supports part all can made of plasticly alleviate its weight simultaneously; Can carry various probes detects the irony structure; When tail end is adsorbed on body surface, load the head end of probe, just can with the tail end bench mark, utilize each joint to survey arbitrarily angled.
Description of drawings
Fig. 1 is electromagnetic intelligent climbing robot structure principle chart of the present invention.
Fig. 2 is electromagnetic intelligent climbing robot cross-sectional view of the present invention.
Fig. 3 is that electromagnetic intelligent climbing robot of the present invention uses view.
The specific embodiment
Describe below in conjunction with accompanying drawing and specific embodiment.
Referring to Fig. 1 to Fig. 3.Fig. 1 shows electromagnetic intelligent climbing robot structure principle chart, and Fig. 2 shows this electromagnetic intelligent climbing robot cross-sectional view, and Fig. 3 shows the schematic diagram under this electromagnetic intelligent climbing robot use state.
The described electromagnetic intelligent climbing robot of the present embodiment, comprise sensing probe 3 and transmitter module, also comprise robot body 1, sensing probe is image sensing and infrared sensor probe, be arranged on the cavity at robot two ends, will detect the information real-time Transmission to control center.Transmitter module is used for the detection to steel tower, and the high-altitude picture is real-time transmitted to ground.
Robot body is to connect successively four cavitys by three horizontal servo motors, and the stator of the first horizontal servo motor 4 is fixedly mounted in the first cavity 11, and its rotor is captiveed joint with the second cavity 12; The stator of the second horizontal servo motor 4' is fixedly mounted in the 3rd cavity 13, and its rotor is captiveed joint with the second cavity 12; The 3rd horizontal servo motor 4
' 'Stator be fixedly mounted in the 3rd cavity 13, its rotor is captiveed joint with the 4th cavity 14.Namely the first cavity 11 and the 4th cavity 14 are interior is installed with respectively vertical servomotor 5 at two cavitys of head and the tail, and the Rotor terminal of vertical servomotor 5 is installed with adsorbing mechanism 2, and this adsorbing mechanism is magnetic chuck, uses simultaneously permanent magnet and electromagnet.The present invention uses permanent magnetism and electromagnetism absorption dual mode simultaneously, and the magnetic force that permanent magnet produces equates with the magnetic force that electromagnet produces.Reliable permanent magnet adsorbs when not switching on, and the magnetic force that logical direct current (DC) produces and the magnetic force of permanent magnet are cancelled each other, and adsorbing mechanism is broken away from more easily; Oppositely the magnetic force of direct current (DC) generation and the magnetic force of permanent magnet superpose mutually, and adsorption power is stronger.
During the robot climbing, use first one of them magnetic chuck, hold tower material such as angle steel to support whole robot.The other end of robot moves to the target location, holds the tower material with another magnetic chuck, unclamps previous magnetic chuck and moves to another target location.Robot two ends like this are absorption and motion alternately, can be in tower material climbing operation.
When Robot tower material traveling priority, rear magnetic chuck is in adsorbed state, front magnetic chuck is in releasing orientation, the horizontal servo motor is jointly controlled with vertical servomotor, so that front magnetic chuck moves forward along the tower material, constantly enlarge to maximum position with the distance of rear magnetic chuck, then front magnetic chuck adsorbs steel tower, unclamp the rear magnetic chuck of original absorption, again by jointly controlling horizontal servo motor and vertical servomotor, make rear magnetic chuck along the reach of tower material straight line, draw close and the adsorption tower material with front magnetic chuck, unclamp the front magnetic chuck of original absorption.So go round and begin again, can make the step by step forward climbing of Robot steel tower corner iron.
When robot is crossed the obstacle on angle steel surface, such as angle steel and the direct junction of angle steel, gusset plate etc., at first adopt above-mentioned mode of motion, magnetic chuck is drawn close as far as possible before and after making robot, front magnetic chuck and obstacle approach as far as possible, then unclamp front magnetic chuck, front magnetic chuck is risen to the plane that is higher than obstacle, control the electronic sweep that makes and open up into maximum position, make front magnetic chuck clear an obstacle, and partly cooperate with vertical rotary and to be adsorbed on the tower material after finding the optimum position, then unclamp rear magnetic chuck, jointly control again the horizontal servo motor and with vertical servomotor rear magnetic chuck is drawn close along the reach of tower material straight line with obstacle, then rear magnetic chuck absorption, unclamp front magnetic chuck, then repeat the mode of front magnetic chuck obstacle detouring, make rear magnetic chuck clear an obstacle, thereby make whole robot clear an obstacle.
When robot mobile at steel tower, when needing to turn.At first two magnetic chucks are drawn close, adsorb simultaneously the tower material, unclamp front magnetic chuck, by the horizontal servo motor, with front magnetic chuck lifting, then control is in the vertical servomotor of the rear magnetic chuck of adsorbed state, whole robot is rotated to an angle as the axle center take the S. A. of this vertical servomotor, make front magnetic chuck near target tower material, then by control horizontal servo motor, front magnetic chuck is moved towards target angle steel direction.Each mechanism freedom of Comprehensive Control robot finds new adsorption site, and the adsorption tower material, unclamps former Motionless electromagnetic sucker this moment, uses same principle, again seeks new adsorption site, and final the realization turned.
When the robot rear end is adsorbed on tower material surface, load the front end of sensing probe and just can survey the tower material, control the detection direction of sensing probe by control horizontal servo motor and vertical servomotor.
Only be preferred implementation of the present invention below, should be pointed out that above-mentioned preferred implementation should not be considered as limitation of the present invention, protection scope of the present invention should be as the criterion with the claim limited range.For those skilled in the art, without departing from the spirit and scope of the present invention, can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (5)
1. electromagnetic intelligent climbing robot, comprise sensing probe (3) and transmitter module, it is characterized in that, also comprise robot body (1), this robot body is at least four cavitys that are connected together by the horizontal servo motor train, the stator of horizontal servo motor is fixedly mounted in the cavity, and the rotor of horizontal servo motor is captiveed joint with another cavity; Also be installed with respectively vertical servomotor (5) in two cavitys of head and the tail, the Rotor terminal of vertical servomotor (5) is installed with adsorbing mechanism (2).
2. electromagnetic intelligent climbing robot according to claim 1 is characterized in that, described adsorbing mechanism (2) is magnetic chuck.
3. electromagnetic intelligent climbing robot according to claim 2 is characterized in that, described robot body (1) is by 4 cavitys of 3 horizontal servo motor links.
4. electromagnetic intelligent climbing robot according to claim 3, it is characterized in that, the concrete mounting means of described horizontal servo motor and cavity is: the stator of the first horizontal servo motor (4) is fixedly mounted in the first cavity (11), and its rotor is captiveed joint with the second cavity (12); The second horizontal servo motor (4
') stator be fixedly mounted in the 3rd cavity (13), its rotor is captiveed joint with the second cavity (12); The 3rd horizontal servo motor (4
' ') stator be fixedly mounted in the 3rd cavity (13), its rotor is captiveed joint with the 4th cavity (14).
5. electromagnetic intelligent climbing robot according to claim 5 is characterized in that, is separately installed with vertical servomotor (5) in described the first cavity (11) and the 4th cavity (14).
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| Application Number | Priority Date | Filing Date | Title |
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| CN2012104056897A CN102887187A (en) | 2012-10-23 | 2012-10-23 | Electromagnetic-type intelligent climbing robot |
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| CN2012104056897A CN102887187A (en) | 2012-10-23 | 2012-10-23 | Electromagnetic-type intelligent climbing robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103286775A (en) * | 2013-05-21 | 2013-09-11 | 华南理工大学 | Nondestructive testing robot for excavator |
| CN105965524A (en) * | 2016-07-13 | 2016-09-28 | 国家电网公司 | Patrolling robot of iron tower and working method thereof |
| CN106193640A (en) * | 2016-07-13 | 2016-12-07 | 国家电网公司 | A kind of steel tower inspecting robot and method of work thereof |
| CN106444779A (en) * | 2016-11-11 | 2017-02-22 | 华南智能机器人创新研究院 | Method and system for remotely controlling robot server |
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| EP2476604A1 (en) * | 2006-11-13 | 2012-07-18 | Raytheon Company | Tracked robotic crawler having a moveable arm |
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| CN1554518A (en) * | 2003-12-23 | 2004-12-15 | 北京航空航天大学 | Control system of self climbing cleaning robot |
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| EP2476604A1 (en) * | 2006-11-13 | 2012-07-18 | Raytheon Company | Tracked robotic crawler having a moveable arm |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103286775A (en) * | 2013-05-21 | 2013-09-11 | 华南理工大学 | Nondestructive testing robot for excavator |
| CN105965524A (en) * | 2016-07-13 | 2016-09-28 | 国家电网公司 | Patrolling robot of iron tower and working method thereof |
| CN106193640A (en) * | 2016-07-13 | 2016-12-07 | 国家电网公司 | A kind of steel tower inspecting robot and method of work thereof |
| CN106193640B (en) * | 2016-07-13 | 2018-10-02 | 合肥龙图腾信息技术有限公司 | A kind of steel tower inspecting robot and its working method |
| CN106444779A (en) * | 2016-11-11 | 2017-02-22 | 华南智能机器人创新研究院 | Method and system for remotely controlling robot server |
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Application publication date: 20130123 |