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Climbing truss robot capable of swinging and grasping long-distance truss rods and control method thereof

A technology of truss robots and truss rods, applied in the field of climbing truss robots and their control, can solve problems such as the inability to reliably grasp far truss rods, continuous movement of truss structures, etc., and achieve accurate motion state feedback and fast excitation speed Effect

Active Publication Date: 2021-10-01
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0008] In order to solve the problem that the existing truss climbing robot cannot reliably grasp the far truss rod and cannot move continuously in the truss structure, the present invention further provides a climbing truss robot capable of swinging and grasping the long-distance truss rod and its Control Method

Method used

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  • Climbing truss robot capable of swinging and grasping long-distance truss rods and control method thereof
  • Climbing truss robot capable of swinging and grasping long-distance truss rods and control method thereof
  • Climbing truss robot capable of swinging and grasping long-distance truss rods and control method thereof

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Experimental program
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Effect test

specific Embodiment approach 1

[0096] Specific implementation mode one: as Figure 1~4 As shown, the improved climbing truss robot in this embodiment includes a first gripper 1, a first wrist joint 2, a first connecting rod 3, an elbow joint 4, a second connecting rod 5, a second wrist joint 6 and a second Claw 7, the first claw 1 is rotatably connected to one end of the first connecting rod 3 through the first wrist joint 2, and the other end of the first connecting rod 3 is rotatably connected to one end of the second connecting rod 5 through the elbow joint 4. The second hand claw 7 is rotationally connected with the other end of the second connecting rod 5 through the second wrist joint 6; the first claw 1 and the second claw 7 are the same part, and the first wrist joint 2 and the second wrist joint 6 are the same Parts, the first connecting rod 3 and the second connecting rod 5 are the same part. The first wrist joint 2, the elbow joint 4, and the second wrist joint 6 are all composed of a DC servo m...

specific Embodiment approach 2

[0098] Specific implementation mode two: as figure 2 , 3 As shown, when the truss rod to be grasped is a truss rod 1-18 with a circular cross section, the opening and closing claws of the robot can be respectively loaded into the fixed half claw 1-1 and the moving half claw 1-15. Claw bushing 1-2 and moving claw bushing 1-16, and different friction materials 1-17 can be selected according to the material and surface roughness of the truss rod 1-18. For large rubber materials, the wear-resistant silicone material can be used to grasp the hard and rough surface, and the asbestos layer with good chimerism can be used to grasp the soft uneven surface such as cables. For truss rods with 90° corners such as angle steel 1-20, square steel 1-21, channel steel 1-22, and I-beam 1-23, the fixed claw bushing 1-2 and movable claw bushing can be removed Cover 1-16, using the rectangular slots on the inside of the fixed half-claw 1-1 and the moving half-claw 1-15 to grasp. The rectangula...

specific Embodiment approach 3

[0099] Specific implementation mode three: as Figure 5 As shown, the control system of the climbing truss robot is composed of the host computer and the servo motor control / driver of the first gripper 1, the first wrist joint 2, the elbow joint 4, the second wrist joint 6, and the second gripper 7 , the upper computer communicates with the master node servo control / driver that drives and controls the DC servo motor 1-9 in the first gripper 1 through the USB interface, and the master node servo control / driver communicates with other servo control / drivers through the CAN bus, each The servo control / driver corresponds to a DC servo motor. The upper computer can also install a CAN-PCI board on the PCI slot, through which it can directly communicate with all servo controllers / drivers. The friction wheel retreat feedback mechanism 1-3 on the robot claw feeds back the rotation angle θ of the photoelectric encoder shaft inside it, the gyroscope 1-14 feeds back its own rotational ang...

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Abstract

A climbing truss robot capable of swinging and grasping a long-distance truss rod and a control method thereof relate to a robot and a control method thereof. The invention aims to solve the problems that the existing truss climbing robot cannot reliably grasp the far truss rods and cannot move continuously in the truss structure. The friction material is added to the inner side of the robot's claws to provide greater damping torque; the gyro sensor is added to the claws to eliminate the effect of friction wheel slippage during high-speed swings; The feedback data of the instrument is used to generate the method of the motion state feedback of the underactuated joint. A vibration control method based on phase difference is proposed, and a swing grab bar control method started from the natural hanging state, and a continuous movement control method are carried out. The swing grab bar experiment started from the natural hanging state and the continuous movement Simulation and experiments verify the effectiveness of the proposed method. The invention is applied to the field of climbing truss robots.

Description

technical field [0001] The invention relates to a climbing truss robot and a control method thereof. Background technique [0002] The climbing truss robot is a typical mobile robot in a discontinuous medium. Its application environment includes not only rigid truss structures in buildings such as bridges and buildings, but also flexible trusses made of cables and chains ( network) structure, and can even be applied to unstructured complex environments such as naturally growing tree branches. The climbing truss robot itself does not contain underactuated joints, but under the influence of gravity, the robot's claws can rotate relative to the circular cross-section truss rod, which becomes an underactuated joint, thus constituting an underactuated system. The movement of the climbing truss robot is bionic to the movement of primates (apes) swinging and grasping the branches between the branches. One claw holds the truss rod as a supporting hand, and the other swimming claw i...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J15/00B25J9/00B25J17/00B25J17/02B62D57/024
CPCB25J9/00B25J9/0009B25J15/00B25J17/00B25J17/02B62D57/024
Inventor 吴伟国高力扬
Owner HARBIN INST OF TECH
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