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Electric power inspection robot, and balance control method of soft body waist platform

A power inspection and robotics technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve the problems of flexibility and poor stability of manipulators

Active Publication Date: 2020-10-23
深圳市韧识科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The technical problem mainly solved by the present invention is how to overcome the problem of poor flexibility and stability of the mechanical arm in the existing power inspection robot

Method used

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  • Electric power inspection robot, and balance control method of soft body waist platform
  • Electric power inspection robot, and balance control method of soft body waist platform
  • Electric power inspection robot, and balance control method of soft body waist platform

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Experimental program
Comparison scheme
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Embodiment 1

[0043] Please refer to Figure 1-3 , the present application discloses an electric power inspection robot, including a chassis 11, a suspension motion mechanism 12 assembled on the chassis 11, a mechanical arm 13, and a soft waist platform 14 and a controller 15, which will be described separately below.

[0044] The chassis 11 may be a box structure, and there is space for receiving components such as circuit boards inside. In order to ensure the structural stability of the chassis 11 and the protection performance of the internal components, the chassis may be constructed of metal materials.

[0045] The suspension movement mechanism 12 is fixed on the cabinet 11, and a group of rolling discs that cooperate to hang on the cables can be respectively arranged on the two sides of the cabinet 11, so that each group of rolling discs is suspended on a cable. Each group of rollers has a gripping structure, which can not only travel along the high-altitude cable, but also overcome o...

Embodiment 2

[0066] Please refer to Figure 7 , on the basis of the power inspection robot disclosed in Embodiment 1, the present application discloses an improved power inspection robot. The improved power inspection robot not only includes a chassis 11 and a suspension motion mechanism 12 assembled on the chassis 11, The mechanical arm 13 also includes a soft waist platform 14 ′ with multiple soft drive groups and a controller 15 . The purpose of setting the soft waist platform 14' with multiple soft body driving groups is to improve the displacement space and flexibility of the soft waist platform 14'.

[0067] In this embodiment, a plurality of soft drive groups in the soft waist platform 14' are serially connected in series and form a layered structure up and down, such as Figure 8 The software driver groups Z1 and Z2 constitute a hierarchical structure in which the software driver group Z1 is on top and the software driver group Z2 is on the bottom.

[0068] It should be noted tha...

Embodiment 3

[0087] Please refer to Figure 15 , on the basis of the power inspection robot provided in the second embodiment, this embodiment discloses a balance control method for the soft waist platform, where the soft waist platform is the software built by multiple software drive groups in the second embodiment The waist platform 14', and the soft waist platform 14' has a layered structure of multi-layer soft drive groups.

[0088] In this embodiment, the balance control method claimed for protection includes steps S210-S240, which will be described respectively below.

[0089] Step S210, acquiring state information of motion inertia and state information of fluid pressure.

[0090] see Figure 12 , since the state sensing circuit 155 obtains the fluid pressure respectively from a plurality of pressure sensors 153, and obtains the motion inertia from the motion sensor 154, then the central processing unit 156 facilitates obtaining the state information of the motion inertia and the ...

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PUM

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Abstract

The invention provides an electric power inspection robot, and a balance control method of a soft body waist platform. The electric power inspection robot comprises a machine case, suspended motion mechanisms, mechanical arms, the soft body waist platform and a controller. A soft body driver set in the soft body waist platform comprises a first shelf, a second shelf and a plurality of soft body drivers. One ends of the soft body drivers are connected to the first shelf, and the other ends of the soft body drivers are connected to the second shelf. The surface, not connected with the soft bodydrivers, of the first shelf is fixed to the machine case. The mechanical arms are assembled to the surface, not connected with the soft body drivers, of the second shelf. The controller is arranged inside the machine case and is in pipe connection with the soft body driver set in the soft body waist platform. The controller is used for driving at least one soft body driver among the soft body driver set to do telescopic motion through a fluid medium so as to adjust the spatial posture of the second shelf. The electric power inspection robot provides a certain active anti-shaking capability forthe mechanical arms through the soft body waist platform and improves the stability of the mechanical arms during charged operation.

Description

technical field [0001] The invention relates to the technical field of electric power inspection, in particular to an electric power inspection robot and a balance control method for a soft waist platform. Background technique [0002] At present, in the scene of live inspection operations on high-voltage transmission lines, electric power inspection robots are widely used to replace manual inspection operations, which has the advantages of safe and efficient application. Power inspection robots usually include a robot body, a suspension motion mechanism, and a mechanical arm. The suspension motion mechanism is hoisted on the power transmission cable through a sliding wheel, and the cable is used as a traveling track to pull the robot body to move and have a certain ability to cross obstacles; The multi-joint manipulator is installed on the robot body, and carries out live work such as cable detection, maintenance, and obstacle removal by cooperating with the end effector wi...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J5/02B25J9/16B25J19/02H02G1/02
CPCB25J5/02B25J9/16B25J19/02H02G1/02B25J9/161
Inventor 王峥刘思聪苏引引方忠桂魏瀛
Owner 深圳市韧识科技有限公司