CN114770526B - Multi-arm cooperative flexible cable obstacle surmounting operation robot - Google Patents
Multi-arm cooperative flexible cable obstacle surmounting operation robot Download PDFInfo
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- CN114770526B CN114770526B CN202210174902.1A CN202210174902A CN114770526B CN 114770526 B CN114770526 B CN 114770526B CN 202210174902 A CN202210174902 A CN 202210174902A CN 114770526 B CN114770526 B CN 114770526B
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- 230000007246 mechanism Effects 0.000 claims abstract description 189
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- 210000000078 claw Anatomy 0.000 claims description 3
- 238000007689 inspection Methods 0.000 description 10
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- 230000009471 action Effects 0.000 description 3
- 230000009194 climbing Effects 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
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- 230000005484 gravity Effects 0.000 description 2
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- 238000012360 testing method Methods 0.000 description 2
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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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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0042—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction
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Abstract
The invention discloses a multi-arm collaborative flexible cable obstacle crossing operation robot which comprises a frame type box body, wherein a sliding swing mechanism is arranged at the top of the frame type box body and is connected with a front movement arm, a middle movement arm and a rear movement arm; the front moving arm and the rear moving arm are symmetrically arranged on the front side and the rear side of the frame type box body, and the front moving arm comprises a moving arm bottom plate, a direct-drive roller mechanism, a cable pressing mechanism, a first swinging mechanism and a first lifting mechanism; the motion arm base plate is hinged with a motion arm framework, and the direct-drive roller mechanism and the cable pressing mechanism are fixed on the motion arm framework; the first lifting mechanism is arranged below the bottom plate of the moving arm; the middle motion arm is arranged in the frame type box body and comprises a rope holding mechanism and a second lifting mechanism, and the rope holding mechanism is arranged at the top of the second lifting mechanism; the sliding swing mechanism comprises a sliding mechanism and two second swing mechanisms. The robot has the advantages of strong obstacle crossing capability, good safety and stability, suitability for large arc-shaped flexible cables and high detection precision.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a multi-arm collaborative flexible cable obstacle surmounting operation robot.
Background
The flexible cable is used as a special engineering structure to be applied to structures with a certain span such as aerial cableways, bridges, civil engineering and the like. The flexible cable is exposed in the field for a long time, so that the problems of strand breakage, strand loosening, rust, displacement, lightning stroke, pollution, abrasion and hardware oxidization corrosion on the flexible cable are inevitably caused, and the safety accident is caused, so that huge economic losses are caused for people's life and industrial enterprises. Therefore, the flexible cable is required to be inspected and maintained regularly so as to ensure safe operation.
The early-stage flexible cable inspection method mainly relies on manual inspection and helicopter inspection. The labor intensity of manual inspection is high, ground personnel are far away from the flexible cable, the detection precision is low, and inspection cannot be performed in severe environments such as a strong wind and strong fog environment; the helicopter inspection mode needs to cultivate pilots, has complex operation procedures and higher cost.
The robot inspection mode is to use the flexible cable as an operation path, can approach the flexible cable closely, and detect the damage condition of the flexible cable by carrying the sensor by itself, so that the detection quality is greatly improved, but most of the current inspection robots have the defects of complex structure, limited obstacle surmounting capability, poor climbing capability and the like, and inconvenience is brought to the inspection of the flexible cable.
Disclosure of Invention
Aiming at the problems encountered in the prior art, the invention provides the multi-arm collaborative flexible cable obstacle surmounting operation robot which is reasonable in design, overcomes the defects in the prior art and has a good effect.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
The multi-arm collaborative flexible cable obstacle surmounting operation robot comprises a frame type box body, wherein a sliding swing mechanism is arranged at the top of the frame type box body and is connected with a front movement arm, a middle movement arm and a rear movement arm;
The front moving arm and the rear moving arm are symmetrically arranged on the front side and the rear side of the frame type box body, and the front moving arm comprises a moving arm bottom plate, a direct-drive roller mechanism, a cable pressing mechanism, a first swinging mechanism and a first lifting mechanism; the motion arm bottom plate is hinged with a motion arm framework, the motion arm framework comprises a vertical plate and two side plates, and two sensors are arranged on the inner walls of the side plates and used for detecting obstacles on the flexible rope; the direct-drive type roller mechanism and the cable pressing mechanism are fixed on a moving arm framework, the direct-drive type roller mechanism can drive the robot to walk on the flexible cable, and the cable pressing mechanism can be matched with the direct-drive type roller mechanism to press the flexible cable; the first lifting mechanism is arranged below the bottom plate of the moving arm and is used for adjusting the heights of the direct-drive roller mechanism and the cable pressing mechanism; the first swing mechanism can drive the hand movement arm framework to rotate;
The middle motion arm is arranged in the frame type box body and comprises a rope holding mechanism and a second lifting mechanism, the rope holding mechanism is arranged at the top of the second lifting mechanism, the second lifting mechanism can drive the rope holding mechanism to move to the position above the sliding swing mechanism, and the rope holding mechanism is used for holding a flexible rope;
The sliding swing mechanism comprises a sliding mechanism and two second swing mechanisms, the sliding mechanism can enable the middle motion arm and the frame type box body to move back and forth, and the second swing mechanisms can enable the front and back motion arm to rotate in a horizontal plane.
Further, the direct-drive type roller mechanism is fixed with the moving arm framework through a fixing frame and comprises rollers and a direct-drive type motor, and an output shaft of the direct-drive type motor is fixedly connected with a roller rotating shaft through a roller hub.
Further, the cable pressing mechanism comprises a self-locking motor, a connecting block, an auxiliary wheel rotating shaft and a bearing, wherein an output shaft of the self-locking motor is in threaded connection with one end of an auxiliary wheel stepped shaft through the connecting block, and the other end of the auxiliary wheel stepped shaft is in rotary connection with the auxiliary wheel through the bearing.
Further, the first swing mechanism comprises an electric push rod and an electric push rod mounting seat, one end of the electric push rod is fixed on the bottom plate of the moving arm through the electric push rod mounting seat, and the other end of the electric push rod is fixed on the inner side of a vertical plate of the moving arm framework through the electric push rod mounting seat;
The motion arm bottom plate is provided with a hinged support, the motion arm framework is hinged with the hinged support through a clamp spring pin, and when the electric push rod stretches out, the motion arm framework drives the direct-drive rolling structure and the cable pressing mechanism to rotate left and right around the clamp spring pin.
Further, the first lifting mechanism and the second lifting mechanism comprise square tubes, a lifting motor, a guide block and a telescopic cylinder, the bottom of the lifting motor is connected with the square tubes through a square tube base, an output shaft at the top of the lifting motor is connected with a screw rod, and screw nuts are arranged on the screw rod in a threaded manner; the telescopic cylinder is sleeved on the screw rod, one end of the telescopic cylinder is connected with the screw rod nut through the guide block, and the other end of the telescopic cylinder is connected with the lower end of the bottom plate of the moving arm.
Further, the rope holding mechanism comprises two rope holding hand grips and a hand grip opening and closing motor, and each rope holding hand grip comprises an arc-shaped clamping part and an opening and closing part; the inner sides of the arc-shaped clamping parts are provided with rubber pads for clamping the flexible ropes, the upper ends of the two arc-shaped clamping parts are provided with claw teeth which are distributed in a staggered manner, and the lower ends of the two arc-shaped clamping parts are connected with the opening and closing parts; the opening and closing parts of the two rope holding hand grips are connected through saw tooth meshing; the hand-holding opening and closing motor drives one rope-holding hand-holding handle to rotate, so that the two rope-holding hand-holding handles move in opposite directions or in opposite directions.
Further, a charging plug is arranged between the opening and closing parts of the two rope holding hand grips.
Further, the sliding mechanism comprises two guiding optical axes, two guiding optical axis fixing seats, a sliding gear, a sawtooth track and a sliding motor, wherein the two guiding optical axis fixing seats are respectively arranged at the front end and the rear end of the top of the frame type box body, the two guiding optical axes and the sawtooth track are parallelly fixed between the two guiding optical axis fixing seats, a plurality of sliding blocks are respectively sleeved on each guiding optical axis in a sliding manner, and the bottoms of the sliding blocks are fixedly connected with the frame type box body; the frame type box body is provided with a sliding gear which is meshed with the saw tooth track, and the sliding motor drives the sliding gear to rotate.
Further, the second swing mechanism comprises a swing motor, a swing pinion, a swing large gear and a rotating connecting plate, wherein the swing pinion and the swing large gear are fixed on a guide optical axis fixing seat and are in meshed connection, and the swing motor drives the swing pinion to rotate; one end bottom of the rotating connecting plate is fixedly connected with the top of the swing large gear, the other end bottom of the rotating connecting plate is fixedly connected with the square tube in the first lifting structure, and a through hole for the telescopic cylinder to pass through is formed in the rotating connecting plate.
Further, be equipped with control system in the frame type box, the box outside is fixed with flexible rope check out test set, and flexible rope check out test set includes camera, infrared detector and signal transceiver, and the camera passes through signal transceiver with infrared detector and is connected.
The beneficial technical effects brought by the invention are as follows:
1. The obstacle crossing capability is strong; the front-back rolling wheel is driven by a high-power direct-drive motor, and when an obstacle is encountered, the arm of the robot which moves back and forth can be freely and flexibly separated from the flexible rope at any time through the lifting mechanism, the swinging mechanism and the rope holding mechanism, so that obstacle surmounting is realized.
2. The safety and stability are good; the robot is provided with the front, middle and back moving arms, at least two moving arms can be guaranteed to be on the flexible rope simultaneously in the walking and obstacle crossing process, and meanwhile, the charging plug is arranged at the opening and closing position of the rope holding hand to enable the robot to complete online charging, so that the safety and stability of the robot on the flexible rope are greatly improved.
3. The cable is suitable for large arc hanging flexible cables; the front and rear rollers adopt the direct-drive disc type motor, the power loss is small, and the auxiliary rope pressing mechanism is arranged, when the robot climbs a slope, the self-locking motor drives the auxiliary wheel to press the flexible rope, so that the friction force between the flexible rope and the rolling wheel is increased, and the climbing capacity is greatly improved.
4. The control is simple, and the detection precision is high; the intelligent obstacle crossing system can realize autonomous control during obstacle crossing, the obstacle crossing time is short, the monitoring information of the flexible cable can be transmitted to the ground base station in real time in an image form by the aid of the camera and the infrared detector, and the inspection precision is high.
Drawings
The invention is further described below with reference to the accompanying drawings:
FIG. 1 is a schematic structural view of a multi-arm collaborative flexible cable obstacle surmounting operation robot;
FIG. 2 is a schematic structural view of a multi-arm collaborative flexible cable obstacle surmounting operation robot and a flexible cable in cooperation;
FIG. 3 is a cross-sectional view of a direct drive roller mechanism according to the present invention;
FIG. 4 is a cross-sectional view of the cable pressing mechanism of the present invention;
FIG. 5 is a perspective view of the structure of the direct drive roller mechanism, the cable pressing mechanism and the first swing mechanism according to the present invention;
FIG. 6 is a schematic view of a lifting mechanism according to the present invention;
FIG. 7 is an exploded view of the lift mechanism of the present invention;
FIG. 8 is a schematic view of the rope clasping mechanism in the present invention in a closed state;
FIG. 9 is a schematic view of the rope clasping mechanism in the present invention in an open state;
Fig. 10 is a schematic structural view of a charging plug according to the present invention;
FIG. 11 is a schematic diagram of the cooperation of the sliding and swinging mechanism and the frame type box body in the invention;
FIG. 12 is a side cross-sectional view of the slide structure mated with the frame-type case of the present invention;
wherein: 1-forward movement of the arm; 11-a direct-drive roller mechanism; 111-exercise arm skeleton; 112-a fixing frame; 113-a roller; 114-direct drive motor; 115-a baffle; 116-a roller rotating shaft; 117-hub; 118-a seated bearing; 119-sensor; 12-a cable pressing mechanism; 121-a self-locking motor; 122-connecting blocks; 123-auxiliary wheels; 124-auxiliary wheel stepped shaft; 125-bearings; 126-snap springs;
13-a lifting mechanism; 131-lifting motor; 132-screw rod; 133-a lead screw nut; 134-guide blocks; 135-square tube; 136-square tube base; 137-telescoping cylinder; 138-sports arm floor; 139-a first swing mechanism; 1391—electric push rod; 1392—an electric putter mount; 1393-a hinged bracket; 1394-clamp spring pin; 1395-locking collar;
2-middle movement arm; 21-a rope holding mechanism; 211-holding a rope for hand grasping; 2111-grip; 2112—an opening and closing portion; 212-rubber pad; 213-a hand-held open-close motor; 214-a lashing base; 215-hollow optical axis; 216-charging plug; 2161-electrode blocks; 2162-electrode block holders; 2163—electrode block guide holder;
4-a sliding swing mechanism; 41-a sliding mechanism; 411-slide motor; 412-saw tooth track; 413-a sliding gear; 414-guiding the optical axis; 415-guiding an optical axis fixing seat; 416-a slider; 42-a second swing mechanism; 421-wobble pinion; 422-swing bull gear; 423-rotating the connecting plate;
5-a frame type box body; 51-a flexible cable detection device;
6-flexible rope; 7-an obstacle;
Detailed Description
The invention provides a multi-arm collaborative flexible cable obstacle surmounting operation robot, which is used for making the advantages and the technical scheme of the robot clearer and more definite, and is described in detail below with reference to specific embodiments.
1-2, The multi-arm collaborative flexible cable obstacle surmounting operation robot comprises a frame type box body 5, wherein a sliding swing mechanism 4 is arranged at the top of the frame type box body 5, and the sliding swing mechanism 4 is connected with a front movement arm 1, a middle movement arm 2 and a rear movement arm;
The front moving arm 1 and the rear moving arm are symmetrically arranged on the front side and the rear side of the frame type box body 5, the structures of the front moving arm 1 and the rear moving arm are completely consistent, and the front moving arm 1 comprises a moving arm bottom plate 138, a direct-drive roller mechanism 11, a rope pressing mechanism 12, a first swinging mechanism 139 and a first lifting mechanism 13; the motion arm framework 111 is hinged on the motion arm bottom plate 138 through a hinged support 1393, the motion arm framework 111 comprises a vertical plate and two side plates, the direct-drive roller mechanism 11 and the cable pressing mechanism 12 are fixed on the motion arm framework 111, the cable pressing mechanism 12 is positioned obliquely below the direct-drive roller mechanism 11, the direct-drive roller mechanism 11 can drive a robot to walk on a flexible cable, and the cable pressing mechanism 12 can be matched with the direct-drive roller mechanism 11 to press the flexible cable; the first lifting mechanism 13 is arranged below the moving arm bottom plate 138 and is used for adjusting the heights of the direct-drive roller mechanism 11 and the cable pressing mechanism 12; the first swing mechanism 139 can drive the motion arm skeleton 111 to rotate; two sensors 119 are arranged on the inner wall of the side plate of the front movement arm framework 111.
The middle motion arm 2 is arranged in the frame type box body 5 and comprises a rope holding mechanism 21 and a second lifting mechanism 13, the rope holding mechanism 21 is arranged at the top of the second lifting mechanism 13, the second lifting mechanism 13 can drive the rope holding mechanism 21 to move to the position above the sliding swing mechanism 4, and the rope holding mechanism 21 is used for holding the flexible rope 6;
The slide swing mechanism 4 includes a slide mechanism 41 and two second swing mechanisms 42, the slide mechanism 41 being capable of moving the center movement arm 2 and the frame type case 5 forward and backward, and the second swing mechanisms 42 being capable of rotating the forward and backward movement arm in a horizontal plane.
As shown in fig. 3, the direct-drive roller mechanism 11 is fixed with the moving arm skeleton 111 through a fixing frame 112, the fixing frame 112 includes a transverse portion and two vertical portions disposed below the transverse portion, and the direct-drive roller mechanism 11 is fixed between the two vertical portions; the direct-drive roller mechanism 11 comprises a roller 113 and a direct-drive motor 114, the direct-drive motor 114 is fixed on an inner vertical portion, an output shaft of the direct-drive motor 114 is connected with one end of a roller rotating shaft 116 through a roller hub 117, a baffle 115 is embedded on the roller hub 117, a belt seat bearing 118 is fixed on the outer side of an outer vertical portion, and the other end of the roller rotating shaft 116 passes through the baffle 115 and the outer vertical portion to be in sliding connection with the belt seat bearing 118. When the direct-drive motor 114 is electrified to rotate, power is transmitted through the hub 117 so as to drive the roller 113 to rotate, and the roller 113 rotates to rub with the flexible cable 6 to generate driving force, so that the robot walks along the flexible cable.
As shown in fig. 4, the cable pressing mechanism 12 includes a self-locking motor 121, a connecting block 122, an auxiliary wheel 123, an auxiliary wheel stepped shaft 124, a bearing 125 and a clamp spring 126, wherein the self-locking motor 121 is fixed on the inner wall of a side plate of the moving arm skeleton 111, an output shaft penetrates through the side plate to be connected with the connecting block 122, one end of the auxiliary wheel stepped shaft 124 is in threaded connection with the connecting block 122, the other end of the auxiliary wheel stepped shaft 124 is in rotary connection with the auxiliary wheel 123 through two bearings 125, one end of the two bearings 125 abuts against the step of the auxiliary wheel stepped shaft 124, and the other end of the two bearings are positioned through the clamp spring 126. The self-locking motor 121 drives the auxiliary wheel 123 to rotate so as to increase the friction force between the roller 113 and the flexible cable 6, thereby reducing the occurrence of slipping phenomenon. The self-locking motor can rotate by driving the connecting block to rotate so that the stepped shaft of the auxiliary wheel rotates downwards by 90 degrees from the horizontal position shown in fig. 4 to the vertical position, and thus the auxiliary wheel is driven to rotate downwards by 90 degrees from the horizontal position.
As shown in fig. 5, the first swing mechanism 139 includes an electric putter 1391 and an electric putter mount 1392, and one end of the electric putter 1391 is fixed to the moving arm base plate 138 via the electric putter mount 1392, and the other end is fixed to the inside of the riser of the moving arm frame 111 via the electric putter mount 1392.
The hinged support 1393 comprises a bottom plate and two vertical parts arranged on the bottom plate, the bottom plate is fixed on the moving arm bottom plate 138, the lower ends of two side plates of the moving arm framework 111 are hinged with the two vertical parts through clamp spring pins 1394, two locking check rings 1395 are sleeved on the clamp spring pins 1394, and when the electric push rod 1391 stretches out, the moving arm framework 111 drives the direct-drive rolling structure and the cable pressing mechanism 12 to rotate around the clamp spring pins 1394.
As shown in fig. 6-7, the first lifting mechanism 13 and the second lifting mechanism 13 each comprise a square tube 135, a lifting motor 131, a guide block 134 and a telescopic cylinder 137, a square tube base 136 is fixed at the bottom of the square tube 135, the lifting motor 131 is fixed on the square tube base 136, a screw rod 132 is connected to the output shaft at the top of the lifting motor 131, a screw rod nut 133 is arranged on the screw rod 132 in a threaded manner, the guide block 134 is sleeved outside the screw rod nut 133, the telescopic cylinder 137 is sleeved on the screw rod 132, one end of the telescopic cylinder 137 is connected with the guide block 134, and the other end of the telescopic cylinder is connected with the lower end of a moving arm bottom plate 138. The lifting motor 131 drives the screw rod 132 to rotate, and the screw rod nut 133 on the screw rod 132 rotates along with the screw rod 132 to drive the guide block 134 to move upwards, and as the lower end of the telescopic cylinder 137 is connected with the guide block 134 and the upper end of the telescopic cylinder is connected with the moving arm bottom plate 138, the moving arm bottom plate 138 is provided with the direct-drive roller mechanism 11, so that the direct-drive roller mechanism 11 moves upwards, and the purpose that the roller is separated from the flexible cable 6 is achieved.
As shown in fig. 8, the rope holding mechanism 21 includes two rope holding hand grips 211, a hand grip opening and closing motor 213 and a rope holding base 214, each rope holding hand grip 211 includes an arc-shaped clamping part, a first opening and closing part and a second opening and closing part, a rubber pad 212 for clamping the flexible rope 6 is arranged on the inner side of the arc-shaped clamping part, claw teeth which are distributed in a staggered manner are arranged on the upper ends of the two arc-shaped clamping parts, the lower ends of the two arc-shaped clamping parts are connected with the first opening and closing parts, and the first opening and closing parts and the second opening and closing parts of the two rope holding hand grips 211 are respectively connected through saw tooth meshing; the bottoms of the opening and closing parts of the two rope holding hand grips 211 are fixed on a rope holding base 214, a hand grip opening and closing motor 213 is fixed on the base, an output shaft of the hand grip opening and closing motor 213 is fixedly connected with the first opening and closing part and the second opening and closing part of one rope holding hand grip 211, and the hand grip opening and closing motor 213 drives the rope holding hand grip 211 to rotate so that the two rope holding hand grips 211 do opposite or opposite movement.
As shown in fig. 9-10, a hollow optical axis 215 is connected between the first opening and closing part and the second opening and closing part of any one of the rope holding hand grips 211, a hollow optical axis 215 fixed on the rope holding base 214 is further arranged between the two rope holding hand grips 211, and a charging plug 216 is inserted on the middle hollow optical axis 215, so that the charging plug is fixed between the two rope holding hand grips 211; the charging plug 216 includes two electrode blocks 2161, an electrode block fixed base 2162 and an electrode block guide base 2163, the top of the electrode block guide base 2163 is connected with the two electrode blocks 2161 through the electrode block fixed base 2162, a round hole for the hollow optical axis to pass through is formed in the electrode block guide base 2163, and the lower end of the electrode block fixed base 2162 is fixed on the lasso base 214.
As shown in fig. 11, the sliding mechanism 41 includes two guiding optical axes 414, two guiding optical axis fixing seats 415, a sliding gear 413, a sawtooth track 412 and a sliding motor 411, the two guiding optical axis fixing seats 415 are respectively arranged at the front and rear ends of the top of the frame type box body 5, the two guiding optical axes 414 and the sawtooth track 412 are fixed between the two guiding optical axis fixing seats 415 in parallel, two sliding blocks 416 are respectively sleeved on each guiding optical axis 414 in a sliding manner, and the bottom of each sliding block 416 is fixedly connected with the frame type box body 5; the frame type box body 5 is provided with a sliding gear 413, the sliding gear 413 is connected with the sawtooth track 412 in a meshed mode, the sliding motor 411 is arranged inside the frame type box body 5, an output shaft penetrates through the top of the box body to be connected with the sliding gear, and the sliding motor 411 drives the sliding gear 413 to rotate. The second swinging mechanisms 42 are respectively connected to the two guide optical axis fixing bases 415 of the sliding mechanism 41.
As shown in fig. 12, the second swinging mechanism 42 includes a swinging motor, a swinging pinion 421, a swinging gearwheel 422, and a rotating connection plate 423, the swinging pinion 421 and the swinging gearwheel 422 being fixed on a guiding optical axis fixing seat 415, the two being in meshing connection; the swing motor sets up inside frame-type box 5, and the output shaft passes box top and swing pinion 421 to be connected, can drive swing pinion 421 and rotate, rotates connecting plate 423 one end bottom and swing gear wheel 422 top fixed connection, and square pipe 135 fixed connection in the other end bottom and the first elevation structure is equipped with the through-hole that supplies telescopic cylinder 137 to pass on the rotation connecting plate. When the swing motor rotates, the front moving arm 1 or the rear moving arm can be driven to rotate in the horizontal plane through the mutual engagement between the two gears.
The control system is arranged in the frame type box body 5, a flexible cable detection device 51 is fixed on the outer side of the box body, the flexible cable detection device 51 is used for detecting the condition of a flexible cable, the flexible cable detection device 51 comprises a camera, an infrared detector and a signal transceiver, and the camera is connected with the infrared detector through the signal transceiver. The flexible cable detecting device 51, the direct-drive roller mechanism, the cable pressing mechanism, the lifting mechanism, the swinging mechanism, the sliding mechanism 41, the cable holding mechanism and the control system are all electrically connected with the inside of the frame type box body 5.
According to the multi-arm collaborative flexible cable obstacle surmounting operation robot disclosed by the invention, three moving arms are arranged, when the robot walks on the flexible cable 6 and a sensor 119 positioned on the inner wall of the front moving arm framework 111 detects a front obstacle 7, the robot can cross a typical obstacle on the flexible cable 6 through the alternate movement of the front moving arm 1, the middle moving arm 2 and the rear moving arm 3, and at least two moving arms can be always positioned on the flexible cable 6 in the obstacle surmounting process, so that the safety and stability of the robot are greatly improved. The front motion arm 1 and the rear motion arm 3 of the robot are respectively provided with a rope pressing mechanism 12, the auxiliary wheel stepped shaft 124 is driven to rotate by the self-locking motor 121, the auxiliary wheel 123 can be enabled to adjust the degree of pressing the flexible rope, the friction force between the roller 113 and the auxiliary wheel 123 and the flexible rope 6 is increased, the climbing capacity of the robot is further improved, and the robot can walk under the condition of large sag. The sliding mechanism 41 is arranged on the transverse sliding platform 4 of the robot, and the frame type box body 5 and the middle moving arm 2 can slide transversely, so that the gravity center position of the robot is adjusted, and the stability of obstacle crossing is improved. The charging plug 216 is arranged at the opening and closing position inside the robot rope holding mechanism 21, so that the robot can charge the flexible rope 6, and power is supplied to all the devices. The reliability of the robot is improved.
The specific implementation mode of the multi-arm collaborative flexible cable obstacle surmounting operation robot is as follows:
When the robot walks on the normal flat slope flexible cable, only the direct-drive motor 114 in the front motion arm 1 is required to rotate, so that the roller 113 is driven to rotate, and the robot walks on the flexible cable 6; when the robot encounters rainy or snowy weather or the flexible rope on an upward slope, the two direct-drive motors 114 in the front moving arm 1 and the rear moving arm are required to rotate simultaneously, so that the forward driving force of the robot is increased, and meanwhile, in order to prevent slipping between the roller 113 and the flexible rope, the self-locking motor 121 drives the auxiliary wheel stepped shaft 124 to rotate to a horizontal position, so that the auxiliary wheel 123 compresses the flexible rope, and the friction force between the roller 113 and the auxiliary wheel 123 and the flexible rope is increased, and the slipping is reduced.
When the robot walks on the flexible cable 6, when the sensor 119 on the inner wall of the side plate of the front moving arm framework 111 detects the front obstacle 7 (taking a typical obstacle suspension clamp on the flexible cable as an example here), the self-locking motor 121 drives the auxiliary wheel stepped shaft 124 to rotate to a vertical position, so that the auxiliary wheel 123 is separated from the flexible cable, the sliding motor in the sliding mechanism 41 rotates, the frame type box 5 and the middle moving arm 2 move left, the second lifting mechanism 13 drives the cable holding mechanism 21 to move up along with the telescopic cylinder 137, at the moment, the hand grip opening and closing motor 213 controls the two clamping parts of the cable holding hand grip 211 to open, and when the cable holding mechanism 21 moves up to a specified position, the two clamping parts are closed, so that the cable holding mechanism 21 holds the flexible cable 6 tightly. Subsequently, the first lifting mechanism 13 of the front movement arm 1 drives the direct-drive roller mechanism 11 to move upwards along with the telescopic cylinder 137, so that the roller 113 is separated from the flexible cable 6. Subsequently, the electric push rod 1391 in the first swing mechanism 139 is extended, and the front moving arm skeleton 111 is rotated to the left by a certain angle around the clamp spring pin 1394 so as to avoid the obstacle 7; when the first swing mechanism 139 cannot make the front moving arm 1 avoid the obstacle 7, the second swing mechanism 42 may be started, and the front moving arm is driven to swing at a certain angle in the horizontal plane by the meshing rotation of the swing pinion 421 and the swing large gear 422, so as to be further away from the obstacle 7. Then, the robot is driven by the direct-drive motor 114 to move forward in the rear moving arm, so that the front moving arm 1 passes over the obstacle 7, the front moving arm 1 is reeved through the first lifting mechanism 13 and the first swinging mechanism 139, and the front moving arm 1 is finished to surmount the obstacle. Next, the middle moving arm 2 is used for realizing obstacle crossing, the rope holding hand grip 211 is firstly opened to separate from the flexible rope 6, then the second lifting mechanism 13 drives the rope holding mechanism 21 to move downwards along with the telescopic cylinder 137 to enable the rope holding mechanism to be lower than the obstacle 7, then the robot moves forwards, after the middle moving arm 2 passes over the obstacle 7, the rope holding mechanism 21 moves upwards, the rope holding hand grip 211 is closed, the middle moving arm 2 is used for hanging ropes again, and the middle moving arm 2 is used for finishing obstacle crossing. Then, under the drive of the sliding mechanism, the middle motion arm 2 and the frame type box body 5 move rightwards, the gravity center is adjusted, and a space is reserved for the rear motion arm. Then, the back movement arm performs obstacle surmounting action, and the back movement arm obstacle surmounting action is identical to the front movement arm 1 obstacle surmounting action.
It should be understood that the above description is not intended to limit the invention to the particular embodiments disclosed, but to limit the invention to the particular embodiments disclosed, and that the invention is not limited to the particular embodiments disclosed, but is intended to cover modifications, adaptations, additions and alternatives falling within the spirit and scope of the invention.
Claims (3)
1. The multi-arm collaborative flexible cable obstacle crossing operation robot is characterized by comprising a frame type box body, wherein a sliding swing mechanism is arranged at the top of the frame type box body and is connected with a front movement arm, a middle movement arm and a rear movement arm;
The front moving arm and the rear moving arm are symmetrically arranged at the front side and the rear side of the frame type box body, and the front moving arm comprises a moving arm bottom plate, a direct-drive roller mechanism, a cable pressing mechanism, a first swinging mechanism and a first lifting mechanism; the motion arm bottom plate is hinged with a motion arm framework, the motion arm framework comprises a vertical plate and two side plates, and two sensors are arranged on the inner walls of the side plates and used for detecting obstacles on the flexible rope; the direct-drive type roller mechanism and the cable pressing mechanism are fixed on a moving arm framework, the direct-drive type roller mechanism can drive the robot to walk on the flexible cable, and the cable pressing mechanism can be matched with the direct-drive type roller mechanism to press the flexible cable; the first lifting mechanism is arranged below the bottom plate of the moving arm and is used for adjusting the height of the direct-drive roller mechanism; the first swing mechanism can drive the moving arm framework to rotate;
The middle motion arm is arranged in the frame type box body and comprises a rope holding mechanism and a second lifting mechanism, the rope holding mechanism is arranged at the top of the second lifting mechanism, the second lifting mechanism can drive the rope holding mechanism to move to the position above the sliding swing mechanism, and the rope holding mechanism is used for holding a flexible rope;
The sliding swing mechanism comprises a sliding mechanism and two second swing mechanisms, the sliding mechanism can enable the middle motion arm and the frame type box body to move forwards and backwards, and the second swing mechanisms can enable the front and back motion arm to rotate in a horizontal plane;
The cable pressing mechanism comprises a self-locking motor, a connecting block, an auxiliary wheel stepped shaft and a bearing, wherein an output shaft of the self-locking motor is in threaded connection with one end of the auxiliary wheel stepped shaft through the connecting block, and the other end of the auxiliary wheel stepped shaft is in rotary connection with the auxiliary wheel through the bearing;
The first swing mechanism comprises an electric push rod and an electric push rod mounting seat, one end of the electric push rod is fixed on the bottom plate of the moving arm through the electric push rod mounting seat, and the other end of the electric push rod is fixed on the inner side of a vertical plate of the moving arm framework through the electric push rod mounting seat; the motion arm bottom plate is provided with a hinged support, the motion arm framework is hinged with the hinged support through a clamp spring pin, and when the electric push rod stretches out, the motion arm framework drives the direct-drive rolling structure and the cable pressing mechanism to rotate left and right around the clamp spring pin;
The direct-drive type roller mechanism is fixed with the moving arm framework through a fixing frame and comprises a roller and a direct-drive motor, and an output shaft of the direct-drive motor is fixedly connected with a roller rotating shaft through a roller hub;
The first lifting mechanism and the second lifting mechanism comprise square tubes, a lifting motor, a guide block and a telescopic cylinder, the bottom of the lifting motor is connected with the square tubes through a square tube base, an output shaft at the top of the lifting motor is connected with a screw rod, and screw nuts are arranged on the screw rod in a threaded manner; the telescopic cylinder is sleeved on the screw rod, one end of the telescopic cylinder is connected with the screw rod nut through the guide block, and the other end of the telescopic cylinder is connected with the lower end of the bottom plate of the moving arm;
The rope holding mechanism comprises two rope holding hand grips and a hand grip opening and closing motor, and each rope holding hand grip comprises an arc-shaped clamping part and an opening and closing part; the inner sides of the arc-shaped clamping parts are provided with rubber pads for clamping the flexible ropes, the upper ends of the two arc-shaped clamping parts are provided with claw teeth which are distributed in a staggered manner, and the lower ends of the two arc-shaped clamping parts are connected with the opening and closing parts; the opening and closing parts of the two rope holding hand grips are connected through saw tooth meshing; the hand-holding opening and closing motor drives one rope-holding hand-holding handle to rotate, so that the two rope-holding hand-holding handles move in opposite directions or in opposite directions;
The sliding mechanism comprises two guiding optical axes, two guiding optical axis fixing seats, a sliding gear, a sawtooth track and a sliding motor, wherein the two guiding optical axis fixing seats are respectively arranged at the front end and the rear end of the top of the frame type box body, the two guiding optical axes and the sawtooth track are parallelly fixed between the two guiding optical axis fixing seats, a plurality of sliding blocks are respectively sleeved on each guiding optical axis in a sliding manner, and the bottoms of the sliding blocks are fixedly connected with the frame type box body; the frame type box body is provided with a sliding gear which is meshed with the sawtooth track, and the sliding motor drives the sliding gear to rotate;
the second swing mechanism comprises a swing motor, a swing pinion, a swing large gear and a rotation connecting plate, wherein the swing pinion and the swing large gear are fixed on a guide optical axis fixing seat and are in meshed connection, and the swing motor drives the swing pinion to rotate; the bottom of one end of the rotating connecting plate is fixedly connected with the top of the swing large gear, the bottom of the other end of the rotating connecting plate is fixedly connected with the square tube in the first lifting structure, and a through hole for the telescopic cylinder to pass through is formed in the rotating connecting plate;
When the robot walks on the normal flat slope flexible rope, only the direct-drive motor in the front motion arm is required to rotate, so that the roller is driven to rotate, and the robot walks on the flexible rope; when the robot runs into rainy and snowy weather or goes up a slope, two direct-drive motors in the front moving arm and the rear moving arm are required to rotate simultaneously, so that the forward driving force of the robot is increased, and meanwhile, in order to prevent slipping between the roller and the flexible rope, the self-locking motor drives the auxiliary wheel stepped shaft to rotate to a horizontal position, so that the auxiliary wheel compresses the flexible rope, the friction force between the roller and the auxiliary wheel and the flexible rope is increased, and the slipping is reduced;
When the robot walks on the flexible rope, a sensor on the inner wall of a moving arm framework side plate of a front moving arm detects a front obstacle, a self-locking motor drives an auxiliary wheel stepped shaft to rotate to a vertical position, so that an auxiliary wheel is separated from the flexible rope, a sliding motor in a sliding mechanism rotates, a frame type box body and a middle moving arm move left, a second lifting mechanism drives a rope holding mechanism to move up along with a telescopic cylinder, at the moment, a hand holding opening and closing motor controls two arc clamping parts of the rope holding hand to open, and when the rope holding mechanism moves up to a designated position, the two arc clamping parts are closed, so that the rope holding mechanism holds the flexible rope tightly; then, the first lifting mechanism of the front moving arm drives the direct-drive roller mechanism to move upwards along with the telescopic cylinder, so that the purpose that the roller is separated from the flexible rope is achieved; then, an electric push rod in the first swing mechanism extends out, and a moving arm framework of the front moving arm rotates leftwards around a clamp spring pin by a certain angle so as to avoid an obstacle; when the first swing mechanism can not enable the front moving arm to avoid the obstacle, the second swing mechanism is started, and the front moving arm is driven to swing at a certain angle on the horizontal plane through the meshing rotation of the swing pinion and the swing large gear, so that the front moving arm is further away from the obstacle.
2. The multi-arm collaborative flexible cable obstacle surmounting operation robot according to claim 1, wherein a charging plug is arranged between the opening and closing parts of the two cable holding hand grips.
3. The multi-arm collaborative flexible cable obstacle surmounting operation robot according to claim 1, wherein a control system is arranged in the frame type box body, flexible cable detection equipment is fixed on the outer side of the box body, the flexible cable detection equipment comprises a camera, an infrared detector and a signal transceiver, and the camera is connected with the infrared detector through the signal transceiver.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210174902.1A CN114770526B (en) | 2022-02-25 | 2022-02-25 | Multi-arm cooperative flexible cable obstacle surmounting operation robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210174902.1A CN114770526B (en) | 2022-02-25 | 2022-02-25 | Multi-arm cooperative flexible cable obstacle surmounting operation robot |
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| CN114770526B true CN114770526B (en) | 2024-06-11 |
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| CN114770526A (en) | 2022-07-22 |
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