Rope-driven intelligent mechanical arm applied to high-voltage transmission tower

Abstract

The invention provides a rope-driven intelligent mechanical arm applied to a high-voltage power transmission tower. The rope-driven intelligent mechanical arm comprises a five-degree-of-freedom body structure module, a fixed bottom plate module and a tail end magnet quick-change module. The five-degree-of-freedom body structure module comprises a second rope, a carbon tube connecting disc, a large arm carbon tube, a transmission gear, a rotating disc, a rope penetrating sleeve, a wrist connecting disc, a fixing disc, a small arm carbon tube and a second joint motor. A second rope penetrates through a rope penetrating sleeve arranged on the rotating disc, an output shaft of a second joint motor is connected with a pinion, then is connected with a transmission gear and is arranged on the rotating disc, and the transmission gear is connected with a carbon tube connecting disc; the large arm carbon tube is connected with the carbon tube connecting disc through a fastening bolt, and the second rope penetrates out of the large arm carbon tube after passing through the rope penetrating sleeve to drive the small arm carbon tube to rotate. The five-degree-of-freedom series mechanical arm is adopted as an overall structure, the large working range is achieved, meanwhile, the carbon fiber tube connecting rods are adopted, the weight is light, replacement is convenient, and therefore the five-degree-of-freedom series mechanical arm has good maintainability and stability.

Description

Technical Field

[0001] The present application relates to the technical field of intelligent robots, and in particular to a rope-driven intelligent robotic arm applied to a high-voltage transmission tower. Background Art

[0002] With the development of science and technology, more and more industries are developing intelligent robots for various purposes to complete tasks with high risk and difficulty. Among them, high-altitude operations on high-voltage iron towers used in power transmission lines urgently need to develop intelligent robotic arms to replace manual operations due to the high risk. Domestic and foreign scholars have conducted a lot of research in the field of climbing robots, but in the power industry, there are not many mature research results with transmission line iron towers as the application environment. Most of them are in the stage of theoretical analysis and functional prototype testing and have not been promoted in actual work. The design difficulty lies in the weight limit of the robotic arm itself. The end-carrying tools cannot complete operations such as bird nest removal, honeycomb removal, surface inspection, safety inspection and emergency rescue. The existing robotic arms that meet the load requirements are heavy and the operating height of the iron tower is high. It is very difficult to transport them to the designated location. The weight is biased towards the end during operation. The torque that the whole machine needs to overcome is too large, which poses a safety hazard. A lightweight intelligent robotic arm with mass concentrated at the bottom is needed. In general, the rope-driven high-voltage iron tower intelligent robotic arm has a popular value. Summary of the invention

[0003] In view of the defects in the prior art, the purpose of this application is to provide a rope-driven intelligent robotic arm for use in high-voltage transmission towers. The servo motor installed at the bottom drives the rope to achieve the steering of each joint at the end, so that the robotic arm can complete the operation at the specified position of the tower.

[0004] In one aspect of the present application, there is provided a rope-driven intelligent manipulator applied to a high-voltage transmission tower, comprising: a five-degree-of-freedom body structure module, a fixed base plate module, and an end magnet quick-change module;

[0005] The five-degree-of-freedom body structure module includes: a second rope, a carbon tube connection plate, a large arm carbon tube, a transmission gear, a rotating plate, a rope loop, a wrist connection plate, a fixed plate, a small arm carbon tube, and a joint second motor;

[0006] Among them, the second rope passes through the rope loop arranged on the rotating disk, the output shaft of the joint second motor is connected to the small gear and then connected to the transmission gear, which is arranged on the rotating disk, and the transmission gear is connected to the carbon tube connecting disk; the upper arm carbon tube is connected to the carbon tube connecting disk by a fastening bolt, and the second rope passes through the rope loop and then passes through the upper arm carbon tube to drive the rotation of the lower arm carbon tube.

[0007] Further, the fixed base module includes: a joint three motor, a joint four motor, a motor mounting plate, a first pulley, a joint five motor, a support plate, a first rope, a whole machine mounting seat, and a joint one motor;

[0008] The joint three motor and the joint four motor are respectively fixed on both sides of the motor mounting plate, the motor output shaft is connected to the first pulley and is arranged on the left side of the whole machine mounting seat, the joint five motor is fixed to the support plate and is arranged above the whole machine mounting seat, the joint one motor is arranged inside the whole machine mounting seat, and the first ropes are all passed through the through holes.

[0009] Furthermore, the whole machine mounting base is made of nylon material, and the four motors, namely the joint three motor, the joint four motor, the joint five motor and the joint one motor, are all centrally arranged on the fixed base plate module, so that the whole machine is lighter and has a greater deadweight load ratio.

[0010] Furthermore, the end magnet quick-change module comprises: a magnet, a magnet mounting seat, a rope fixing block, a mounting bracket, a third rope, a wrist connecting plate, a second pulley, and a threading tube;

[0011] One side of the second pulley is connected to the wrist connecting plate, and the other side is connected to the mounting bracket. The rope fixing block is connected to the end of the mounting bracket. The third rope passes through the rope fixing block and is wound around the second pulley. The second pulley is fixed above the mounting bracket, and the other side is connected to the magnet mounting seat and the magnet in sequence.

[0012] Compared with the prior art, the present invention has at least one of the following beneficial effects:

[0013] 1. The present invention adopts rope drive, which is applicable to many typical high-voltage iron towers of power transmission lines, such as "dry" tower, "cat ear" tower, "ram horn" tower, etc., and has simple operation, low production cost and easy technology promotion.

[0014] 2. In the present invention, the servo motors driving the various joints are concentrated at the bottom of the robotic arm, so that when the front joint is in operation, the torque that the entire machine needs to overcome is smaller and the overall stability is stronger.

[0015] 3. In the present invention, the joints are relatively independent and the lengths of the boom and the forearm are adjustable. According to different tower types and the end tools required for different work tasks, different lengths of booms, forearms and ropes can be selected. At the same time, lightweight materials and easy-to-disassemble mechanisms can greatly improve the efficiency of assembly and transportation.

[0016] 4. The quick-change mechanism for changing tools at the end of the present invention adopts a magnet that is demagnetized when powered on. Compared with traditional electric and pneumatic quick-change mechanisms, it is lighter and easier to connect. In extreme situations such as power exhaustion and accidental short circuit, the electromagnet still maintains its magnetism and keeps the tool adsorbed on the end of the robotic arm to ensure safe operation.

[0017] 5. The present invention adopts a five-degree-of-freedom serial robot arm as the overall structure, which has a large working range. It also adopts a carbon fiber tube connecting rod, which is light and easy to replace, making it have good maintainability and stability. The rope-driven drive mode is adopted to streamline the overall structure while ensuring the actual operating load requirements and precision requirements. Most of the weight is concentrated in the base part, and the deadweight-to-load ratio is larger, which is suitable for the high-voltage tower working environment. The quick-change mechanism realized by magnets can realize the robot's rapid assembly and tool replacement functions. It has a high degree of modular integration and can adapt to a variety of work scenarios without manual intervention, and has a high degree of automation. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Other features, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments with reference to the following drawings:

[0019] Figure 1 This is an overall structural diagram of a rope-driven intelligent robotic arm applied to a high-voltage transmission tower in one embodiment of the present application.

[0020] Figure 2 This is a structural diagram of a fixed base plate module in an embodiment of the present application.

[0021] Figure 3 This is a module diagram of a five-degree-of-freedom main body structure in one embodiment of the present application.

[0022] Figure 4 This is a structural diagram of the end magnet quick-change module in one embodiment of the present application.

[0023] In the figure: 100, fixed base plate module; 200, five-degree-of-freedom body structure module; 300, end magnet quick-change module; 101, joint three motor; 102, joint four motor; 103, motor mounting plate; 104, first pulley; 105, joint five motor; 106, support plate; 107, first rope; 108, whole machine mounting seat; 109, joint one motor; 201, second rope; 202, carbon tube connecting plate; 203 big arm carbon tube; 204, transmission gear; 205, rotating plate; 206, rope loop; 207, wrist connecting plate; 208, fixed plate; 209, forearm carbon tube; 210, joint two motor; 301, magnet; 302, magnet mounting seat; 303, rope fixing block; 304, mounting bracket; 305, third rope; 306, wrist connecting plate; 307, second pulley; 308, threading tube. DETAILED DESCRIPTION

[0024] The present application is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present application, but do not limit the present application in any form. It should be noted that, for those of ordinary skill in the art, several variations and improvements can also be made without departing from the concept of the present application. These all belong to the protection scope of the present application.

[0025] Reference Figure 1 As shown, an embodiment of the present application is a rope-driven intelligent robotic arm applied to a high-voltage transmission tower, including: a fixed base plate module 100, a five-degree-of-freedom body structure module 200 and an end magnet quick-change module 300.

[0026] like Figure 2 As shown, the fixed base plate module 100 includes a joint three motor 101, a joint four motor 102, a motor mounting plate 103, a first pulley 104, a joint five motor 105, a support plate 106, a first rope 107, a whole machine mounting seat 108, and a joint one motor 109.

[0027] The motor 101 of joint three and the motor 102 of joint four are respectively fixed on both sides of the motor mounting plate 103, the motor output shaft is connected to the pulley 104, and is arranged on the left side of the whole machine mounting seat 108, the motor 105 of joint five is fixed on the support plate 106, and is arranged above the whole machine mounting seat 108, the motor 109 of joint one is arranged inside the whole machine mounting seat 108, and all ropes are passed through the through holes.

[0028] The whole machine mounting base 108 is made of nylon material, and the four motors, namely the joint three motor 101, the joint four motor 102, the joint five motor 105, and the joint one motor 109, are all centrally arranged on the fixed base plate module, making the whole machine lighter and having a larger deadweight load ratio.

[0029] The joint one motor 109 is the power source of the robot arm joint one, which can provide 20NM torque. It is set on the fixed plate 208, and the motor shaft penetrates the nylon gear. The rotation of the motor causes the gear to rotate, thereby realizing the rotation of the upper arm carbon tube 203 relative to the fixed plate 208.

[0030] like Figure 3As shown, the five-degree-of-freedom main body structure module 200 includes: a second rope 201, a carbon tube connecting plate 202, a large arm carbon tube 203, a transmission gear 204, a rotating plate 205, a rope loop 206, a wrist connecting plate 207, a fixed plate 208, a small arm carbon tube 209, and a joint second motor 210, wherein the second rope 201 and other wires pass through the rope loop 206 arranged on the rotating plate 205, and the output shaft of the joint second motor 210 is connected to the pinion and then connected to the transmission gear 204. It is arranged on the rotating disk 205, the transmission gear 204 is connected to the carbon tube connecting disk 202, the upper arm carbon tube 203 is connected to the carbon tube connecting disk 202 by fastening bolts, and the second rope 201 passes through the rope loop 206, passes through the upper arm carbon tube 203, and is wound in the groove of the pulley to drive the rotation of the forearm; the forearm carbon tube 209, the wrist connecting disk 207, and the fixed disk 208 are connected in sequence, and the rope 201 passes through the forearm carbon tube 209, and is wound around the pulley of the wrist to drive the wrist to rotate.

[0031] The big arm carbon tube 203 is the main length structure of the robot arm. It is a hollow carbon fiber tube with a thickness of 3 mm, an outer diameter of 50 mm, and a length of 500 mm. There are 6 M3 through holes at both ends for fixing with the rotating disk 205 and the carbon tube connecting disk 202.

[0032] The forearm carbon tube 209 is the second length structural member of the robotic arm. It is a hollow carbon fiber tube with a thickness of 3 mm, an outer diameter of 50 mm, a length of 400 mm, and 6 M3 through holes at both ends. The rotating disk 205 is fixed to the carbon tube connecting disk 202.

[0033] The carbon fiber tube is hollow and the rope passes through it. A camera module can be installed at the end of the robotic arm to observe the tool position and working environment.

[0034] like Figure 4 As shown, the end magnet quick-change module 300 includes: a magnet 301, a magnet mounting seat 302, a rope fixing block 303, a mounting bracket 304, a third rope 305, a wrist connecting plate 306, a second pulley 307, and a threading tube 308, wherein: the second pulley 307 is connected to the wrist connecting plate 306 on one side, and connected to the mounting bracket 304 on the other side, the rope fixing block 303 is connected to the end of the mounting bracket 304, the rope passes through the rope fixing block 303, and is wound around the second pulley 307, the second pulley 307 is fixed above the mounting bracket 304, and the other side is connected to the magnet mounting seat 302 and the magnet 301 in sequence.

[0035] Magnet 301 is a magnet that can be demagnetized by power. When the tool needs to be replaced, the magnet is demagnetized by power and brought close to the tool. After contact, the magnet is de-energized and attracted to complete the tool switching to adapt to different work tasks.

[0036] When completing its operations, the robotic arm can adapt to a variety of high-voltage transmission towers. After experimental tests, it can be found that the robotic arm can adapt well to typical tower materials such as the "wine glass" tower, "cat ear" tower, "dry" tower and "ram horn" tower.

[0037] When the robot is climbing the main material of the iron tower, this example involves an automatic tower climbing method of the above-mentioned device, including automatic obstacle recognition, obstacle crossing gait planning and turning gait planning.

[0038] Specific experiments have proved that the mechanical arm mentioned in the present invention has shown good operating capabilities on four existing typical iron towers when it is located at a height of 10m to 20m from the ground and under an air pressure of 8MPa.

[0039] Experiments have shown that the present invention is applicable to a variety of typical high-voltage transmission towers for power transmission lines, such as "stem" towers, "cat ear" towers, "ram horn" towers, etc., and has simple operation, low production cost, and easy technical promotion.

[0040] In the present invention, the servo motors driving the various joints are concentrated at the bottom of the robot arm, so that when the front joint is in operation, the torque that the whole machine needs to overcome is smaller and the overall stability is stronger.

[0041] In the present invention, the joints are relatively independent and the lengths of the boom and the forearm are adjustable. According to different tower types and the end tools required for different work tasks, booms, forearms and ropes of different lengths can be selected. At the same time, lightweight materials and mechanisms that are easy to disassemble and assemble can greatly improve the efficiency of assembly and transportation.

[0042] The quick-change mechanism for the end-stage tool replacement in the present invention (i.e., the end-stage magnet quick-change module 300) adopts an energized demagnetization type magnet. Compared with traditional electric and pneumatic quick-change mechanisms, it is lighter and easier to connect. In extreme situations such as power exhaustion and accidental short circuit, the electromagnet still maintains its magnetism, keeping the tool adsorbed on the end of the robotic arm to ensure safe operation.

[0043] Specifically, the present invention adopts a rope-driven drive, and the joints of the robot arm can be linked, and a rope-driven intelligent robot arm applied to high-voltage transmission towers is designed. Compared with similar robot arms, the present invention aims to reduce weight through three aspects: structure, material, and power, and improve the load-to-weight ratio of the robot while ensuring the load of the end tool.

[0044] First, the self-made carbon fiber structure and nylon material are used to reduce the dead weight. Secondly, rope drive is used to control the movement of each joint. While reducing the dead weight, the elasticity of the rope itself is used to reduce the internal force damage of the mechanical structure caused by processing and assembly problems. Combining the principles of kinematics and mechanics, the stress and movement conditions of each component of the robotic arm are analyzed based on factors such as the external dimensions of the maintenance operation task area on the surface of the tower and the possible movement trajectory of the maintenance operation tools at the end of the robotic arm. The structure of the robotic arm is streamlined and the structural plan of the robotic arm is further optimized.

[0045] For the joint part of the robot arm, rope drive control is adopted, and the joint components such as servo drive, frameless direct drive motor, harmonic reducer, feedback encoder and brake are integrated at the bottom of the robot arm to reduce the volume and mass of the joint and improve the movement efficiency of the joint; for the connecting rod part of the robot arm, it is built with high-strength and low-density materials such as aluminum alloy, magnesium alloy and carbon fiber in the simulation software, and its mechanical properties, reliability, stability, durability and other indicators are tested. Experiments are carried out on the materials with better effects, and the materials with the best comprehensive indicators are selected to reduce the weight and power consumption of the robot arm itself and improve its load-to-weight ratio and work efficiency. In general, the present invention aims to develop products that can be actually used in the power industry and promoted. For this purpose, in-depth research is conducted on lightweight robot arms, high deadweight-to-load ratio and other aspects, which has great research value.

[0046] The above describes the specific embodiments of the present application. It should be understood that the present application is not limited to the above specific embodiments, and those skilled in the art can make various modifications or variations within the scope of the claims, which does not affect the substantive content of the present application. The above preferred features can be used in any combination without conflicting with each other.

Claims

1. A rope-driven intelligent mechanical arm applied to a high-voltage transmission tower, characterized in that: include: Five-DOF body structure module, fixed base plate module and end magnet quick-change module; The five-degree-of-freedom body structure module includes: a second rope, a carbon tube connection plate, a large arm carbon tube, a transmission gear, a rotating plate, a rope loop, a wrist connection plate, a fixed plate, a small arm carbon tube, and a joint second motor; Among them, the second rope passes through the rope loop arranged on the rotating disk, the output shaft of the joint second motor is connected to the small gear and then connected to the transmission gear, which is arranged on the rotating disk, and the transmission gear is connected to the carbon tube connecting disk; the upper arm carbon tube is connected to the carbon tube connecting disk by a fastening bolt, and the second rope passes through the rope loop and then passes through the upper arm carbon tube to drive the rotation of the lower arm carbon tube.

2. The rope-driven intelligent mechanical arm applied to a high-voltage transmission tower according to claim 1, characterized in that: The fixed base module includes: a joint three motor, a joint four motor, a motor mounting plate, a first pulley, a joint five motor, a support plate, a first rope, a whole machine mounting seat, and a joint one motor; The joint three motor and the joint four motor are respectively fixed on both sides of the motor mounting plate, the motor output shaft is connected to the first pulley and is arranged on the left side of the whole machine mounting seat, the joint five motor is fixed to the support plate and is arranged above the whole machine mounting seat, the joint one motor is arranged inside the whole machine mounting seat, and the first ropes are all passed through the through holes.

3. The rope-driven intelligent mechanical arm applied to a high-voltage transmission tower according to claim 2, characterized in that: The whole machine mounting base is made of nylon material, and the four motors, namely the joint three motor, the joint four motor, the joint five motor and the joint one motor, are all centrally arranged on the fixed base plate module, so that the whole machine is lighter and has a greater deadweight load ratio.

4. The rope-driven intelligent mechanical arm applied to a high-voltage transmission tower according to claim 1, characterized in that: The terminal magnet quick-change module includes: a magnet, a magnet mounting seat, a rope fixing block, a mounting bracket, a third rope, a wrist connecting plate, a second pulley, and a threading tube; One side of the second pulley is connected to the wrist connecting plate, and the other side is connected to the mounting bracket. The rope fixing block is connected to the end of the mounting bracket. The third rope passes through the rope fixing block and is wound around the second pulley. The second pulley is fixed above the mounting bracket, and the other side is connected to the magnet mounting seat and the magnet in sequence.

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