Special operation robot system with rope-driven self-locking flexible joint mechanism

Abstract

The invention discloses a special operation robot system with a rope-driven self-locking flexible joint mechanism, and belongs to the technical field of robots, the special operation robot system comprises a flexible connecting mechanism used for connecting single robots, and the flexible connecting mechanism comprises a rotating platform and a supporting platform rotationally arranged together with the rotating platform; a rotating drum I is arranged on the rotating platform; the supporting platform comprises a base, supporting frames are arranged on the lower end face of the base in a central symmetry mode, a second rotating cylinder matched with the first rotating cylinder is arranged between the supporting frames, and a driving device for driving the second rotating cylinder to rotate is arranged on the base. The first rotary drum and the second rotary drum are connected together through a driving rope, the driving rope reaches the second rotary drum from the first rotary drum through a guide structure to form a closed loop, and detection mechanisms used for measuring the pulling force of the driving rope are symmetrically arranged on the two sides of the second rotary drum. A flexible connection mode is adopted, so that the robot has the capacity of coping with various bent pipeline environments, the locked-rotor problem is avoided through included angle locking, and the service life of the motor is prolonged.

Description

Technical Field

[0001] The invention relates to the field of robot technology, in particular to a special operation robot system with a rope-driven self-locking flexible joint mechanism. Background Art

[0002] With the rapid development of fields such as oil, natural gas, chemical industry, metallurgy and urban water and heating supply, the safety and stability of pipeline systems as the lifeline of these industries are of vital importance. However, after long-term operation, pipeline systems are prone to leakage, explosion and other accidents due to medium corrosion, fatigue damage and potential defects, which not only affect normal production and life, but also may pose a major threat to the environment and public safety. Traditional pipeline inspection and maintenance methods, such as manual inspection and excavation sampling, have problems such as high labor intensity, low efficiency, high cost and many safety hazards. Especially in complex or difficult-to-reach pipeline environments, manual operation is even more difficult to implement. Therefore, it is particularly important to develop pipeline robots that can autonomously walk inside or outside the pipeline, carry a variety of sensors and operating machinery, and perform efficient and accurate inspections.

[0003] As a special equipment that integrates the advanced technology of mobile robots and efficient non-destructive testing capabilities, the pipeline operation robot is designed for tasks such as spraying operations inside pipelines, interface welding quality assessment, and foreign body detection. It can freely shuttle through complex and changeable unstructured pipeline environments. It is equipped with non-destructive testing sensors and relies on a precise positioning system to achieve accurate quantitative detection of abnormal shapes and defects on the inner wall of the pipeline. It plays an important role in the health management and maintenance of pipeline systems. Among them, multi-unit pipeline robots are an important research direction in the field of pipeline robots. However, the connection method between robot units has become a problem. Most robots use a servo connection method, but this method has high requirements on the output torque of the servo and the ability to maintain a certain angle. In practice, the loss of the servo is large and difficult to achieve. Therefore, the present invention proposes a special operation robot system with a rope-driven self-locking flexible joint mechanism. Summary of the invention

[0004] The purpose of the present invention is to provide a special operation robot system with a rope-driven self-locking flexible joint mechanism to solve the above-mentioned problems.

[0005] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0006] The special operation robot system of the present invention has a rope-driven self-locking flexible joint mechanism, comprising a flexible connection mechanism for connecting a single robot, wherein the flexible connection mechanism comprises a rotating platform and a supporting platform rotatably arranged together with the rotating platform;

[0007] The rotating platform comprises a connecting plate at the top, ear plates are symmetrically arranged at the center of the bottom of the connecting plate, the inner side walls of the ear plates are connected together through a rotating cylinder, and a rotating shaft is arranged on the outer side wall of the ear plates;

[0008] The support platform comprises a base, a support plate matched with the ear plate is arranged at the center position of the upper end of the base, and an axial hole matched with the rotating shaft is opened on the support plate; support frames are symmetrically arranged on the lower end surface of the base, a rotating drum 2 matched with the rotating drum 1 is arranged between the support frames, and a driving device for driving the rotating drum 2 to rotate is arranged on the base;

[0009] The first and second rotating drums are connected together by a driving rope, and the driving rope forms a closed loop after reaching the second rotating drum from the first rotating drum through a guide structure. Detection mechanisms for measuring the tension of the driving rope are symmetrically arranged on both sides of the second rotating drum.

[0010] Furthermore, there is a gap between the rotating drum and the connecting plate.

[0011] Furthermore, a spiral groove for winding the driving rope is provided on the rotating drum.

[0012] Furthermore, the ear plate is located on the inner side of the support plate.

[0013] Furthermore, the driving device includes a reduction motor arranged on the upper end surface of the base, and a steering mechanism is arranged between the reduction motor and the second rotating drum.

[0014] Furthermore, the steering mechanism includes a worm fixedly connected to the reduction motor, the worm is meshed with a worm wheel, and the worm wheel is coaxially arranged with the rotating drum.

[0015] Furthermore, a worm transmission hole for the worm shaft to pass through is provided on the base.

[0016] Furthermore, the guide structure includes a guide sleeve symmetrically arranged on the base, and a fixed pulley 1 is arranged below the guide sleeve and distributed on the same side of the Z-axis direction; a fixed pulley 2 is arranged on the side of the fixed pulley 1 away from the guide sleeve and distributed perpendicularly to the Y-axis direction; the drive rope passes through the guide sleeve, fixed pulley 1 and fixed pulley 2 in sequence.

[0017] Furthermore, the fixed pulley one and the fixed pulley two are respectively arranged at the bottom of the base through the fixed pulley one mounting frame and the fixed pulley two mounting frame; the guide sleeve is arranged in a guide sleeve mounting hole opened on the base.

[0018] Furthermore, the detection mechanism includes pressure sensors symmetrically arranged on both sides of the rotating drum 2, a sensing roller is arranged at the bottom of the pressure sensor, and the driving rope passes around the sensing roller; the pressure sensor is arranged at the bottom of the base through a pressure sensor mounting frame.

[0019] Compared with the prior art, the beneficial technical effects of the present invention are:

[0020] The connection mechanism between the two single robots of the special operation robot system with a rope-driven self-locking flexible joint mechanism of the invention adopts a flexible connection method, so that there is an active change of one degree of freedom between the two single robots, so that the robots have the ability to cope with various curved pipe environments; in addition, the driving device of the robot system realizes angle drive through a steering mechanism, and the steering mechanism adopts a worm gear method, so that the angle between the single robots is stable, and the angle between the two single robots will not be offset due to external forces, thus preventing stalling and protecting the driving device. In short, the special operation robot system with a rope-driven self-locking flexible joint mechanism of the invention adopts a flexible connection method, so that the robot has the ability to cope with various curved pipe environments, and the locking of the angle avoids the stalling problem, which increases the service life of the motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The present invention will be further described below in conjunction with the accompanying drawings.

[0022] Figure 1 It is a front view of a special operation robot system with a rope-driven self-locking flexible joint mechanism of the present invention;

[0023] Figure 2 It is a schematic diagram of the front structure of the flexible connection mechanism;

[0024] Figure 3 It is a schematic diagram of the back structure of the flexible connection mechanism;

[0025] Figure 4 It is a schematic diagram of the structure of the drive rope winding state;

[0026] Figure 5 for Figure 4 Bottom view of

[0027] Figure 6 It is a schematic diagram of the rotating platform structure;

[0028] Figure 7 This is a schematic diagram of the supporting platform structure;

[0029] Description of reference numerals: 1. single robot; 2. flexible connection mechanism;

[0030] 201, rotating platform; 202, supporting platform; 203, reduction motor; 204, worm; 205, worm wheel; 206, pressure sensor; 207, driving rope; 208, fixed pulley 1; 209, fixed pulley 2; 210, sensing roller; 211, rotating drum 2; 212, guide sleeve;

[0031] 2011, connecting plate; 2012, ear plate; 2013, rotating drum 1; 2014, spiral groove; 2015, rotating shaft;

[0032] 2021, base; 2022, support plate; 2023, shaft hole; 2024, support frame; 2025, fixed pulley one mounting frame; 2026, pressure sensor mounting frame; 2027, worm drive hole; 2028, guide sleeve mounting hole; 2029, fixed pulley two mounting frame. DETAILED DESCRIPTION

[0033] like Figure 1-7 As shown, a special operation robot system with a rope-driven self-locking flexible joint mechanism includes a flexible connection mechanism 2 for connecting a single robot 1, and the flexible connection mechanism 2 includes a rotating platform 201 and a supporting platform 202 rotatably mounted with the rotating platform 201.

[0034] The rotating platform 201 includes a connecting plate 2011 at the top, and a lug plate 2012 is symmetrically installed at the bottom center of the connecting plate 2011. The inner side walls of the lug plates 2012 are connected together through a rotating drum 1 2013, and a rotating shaft 2015 is installed on the outer side wall of the lug plate 2012. There is a gap between the rotating drum 1 2013 and the connecting plate 2011, which can be used for the stretching of the driving rope 207. The rotating drum 1 2013 is provided with a spiral groove 2014 for the winding of the driving rope 207, and the rotating drum 1 2013 can be driven to rotate when the driving rope 207 is stretched.

[0035] The support platform 202 includes a base 2021, and a support plate 2022 matching the ear plate 2012 is installed at the center of the upper end of the base 2021, and the ear plate 2012 is located at the inner side of the support plate 2022. The support plate 2022 is provided with an axial hole 2023 matching the rotating shaft 2015, that is, the rotating shaft 2015 is driven to rotate in the axial hole 2023 by rotating the first rotating drum 2013, thereby realizing the relative rotation operation between the rotating platform 201 and the support platform 202, and meeting the angle rotation requirement. The support frame 2024 is symmetrically installed at the lower end surface of the base 2021, and the second rotating drum 211 matching the first rotating drum 2013 is installed between the support frames 2024, and the base 221 is installed with a driving device for driving the second rotating drum 211 to rotate.

[0036] The driving device includes a reduction motor 203 installed on the upper end surface of the base 2021, and a steering mechanism is installed between the reduction motor 203 and the second rotating drum 211. In this embodiment, the reduction motor 203 adopts a forward and reverse motor. The steering mechanism includes a worm 204 fixedly connected to the reduction motor 203, and the worm 204 is meshed with a worm wheel 205, and the worm wheel 205 is coaxially installed with the second rotating drum 211. The base 2021 is provided with a worm transmission hole 2027 for the shaft of the worm 204 to pass through. The worm gear mechanism has a large transmission ratio and load-bearing capacity, and can well drive the drive rope 207 to move, thereby driving the change of the angle between the two single robots. In addition, through the mechanical transmission of the worm gear, the system has self-locking properties, that is, the worm gear 204 can only drive the worm gear 205 to rotate, but the worm gear 204 cannot be driven by the worm gear 205 to rotate, thereby avoiding the reverse rotation of the reduction motor 203 driven by external force. While reducing the damage to the reduction motor 203, the rotation angle is locked to avoid the problem of stalling.

[0037] The first rotating drum 2013 and the second rotating drum 211 are connected together by a driving rope 207. The driving rope 207 forms a closed loop after passing through the guide structure from the first rotating drum 2013 to the second rotating drum 211, so that the second rotating drum 211 rotates and drives the angle change of the first rotating drum 213. Detection mechanisms for measuring the tension of the driving rope 207 are symmetrically installed on both sides of the second rotating drum 211.

[0038] The guide structure includes a guide sleeve 212 symmetrically installed on the base 2021, and a fixed pulley 208 is installed below the guide sleeve 212 and distributed on the same side of the Z-axis direction; a fixed pulley 209 is installed on the side of the fixed pulley 208 away from the guide sleeve 212 and distributed perpendicularly to the Y-axis direction; the drive rope 207 passes through the guide sleeve 212, the fixed pulley 208 and the fixed pulley 209 in sequence, and the drive rope 207 first passes through the guide sleeve 212 to make its direction vertical, and then is converted to a horizontal direction through the fixed pulley 208 to pass out, and then the fixed pulley 208 changes the angle transmission change in the horizontal direction, thereby satisfying the steering of the drive rope 207 in this application. The fixed pulley 1 208 and the fixed pulley 2 209 are respectively installed on the bottom of the base 2021 through the fixed pulley 1 mounting frame 2025 and the fixed pulley 2 mounting frame 2029, and the guide sleeve 212 is installed in the guide sleeve mounting hole 2028 opened on the base 2021.

[0039] The detection mechanism includes pressure sensors 206 symmetrically installed on both sides of the rotating drum 211, and a sensing roller 210 is installed at the bottom of the pressure sensor 206, and the driving rope 207 passes around the sensing roller 210. Through the load change of the driving rope 207 on the sensing roller 210, the tension of the driving rope 207 is monitored in real time to prevent the driving rope 207 from breaking due to excessive tension, which is convenient for maintenance of the flexible connection mechanism 2. Specifically, the pressure sensor 206 is installed at the bottom of the base 2021 through the pressure sensor mounting bracket 2026.

[0040] The motion process of the present invention is as follows:

[0041] First, the reduction motor 203 is started, the screw 204 rotates forward / reversely, and the worm gear 205 meshing therewith rotates forward / reversely accordingly, thereby driving the second drum 211 to rotate forward / reversely; when the second drum 211 rotates forward / reversely, the driving rope 207 on it is pulled to rotate forward / reversely together, and the tension of the driving rope 207 acts on the sensing pressure roller 210 (for detecting the pressure size) on the left / right side pressure sensor 206, the fixed pulley 209, the fixed pulley 1 208, and the guide sleeve 212 in sequence, and then reaches the drum 1 2013, and the drum 1 2013 rotates under the action of the tension; finally, the drum 1 2013 rotates, driving the connecting plate 2011 to rotate together, realizing the change of the angle between the rotating platform 201 and the supporting platform 202, and then realizing the angle between the two monomer robots, thereby enhancing the robot's ability to cope with curved pipes.

[0042] The embodiments described above are only descriptions of the preferred modes of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. A special operation robot system with a rope-driven self-locking flexible joint mechanism, characterized in that: It comprises a flexible connection mechanism (2) for connecting a single robot (1), wherein the flexible connection mechanism (2) comprises a rotating platform (201) and a supporting platform (202) rotatably arranged together with the rotating platform (201); The rotating platform (201) comprises a connecting plate (2011) located at the top, an ear plate (2012) is symmetrically arranged at the center position of the bottom of the connecting plate (2011), the inner side walls of the ear plates (2012) are connected together through a rotating drum (213), and a rotating shaft (2015) is arranged on the outer side wall of the ear plate (2012); The support platform (202) comprises a base (2021), a support plate (2022) matching with the ear plate (2012) is arranged at the center position of the upper end of the base (2021), and an axis hole (2023) matching with the rotating shaft (2015) is opened on the support plate (2022); support frames (2024) are symmetrically arranged on the lower end surface of the base (2021), a rotating drum (211) matching with the rotating drum (213) is arranged between the support frames (2024), and a driving device for driving the rotating drum (211) to rotate is arranged on the base (2021); The first rotating drum (2013) and the second rotating drum (211) are connected together by a driving rope (207). The driving rope (207) passes through a guide structure from the first rotating drum (2013) to the second rotating drum (211) to form a closed loop. Detection mechanisms for measuring the tension of the driving rope (207) are symmetrically arranged on both sides of the second rotating drum (211).

2. The special operation robot system with a rope-driven self-locking flexible joint mechanism according to claim 1, characterized in that: There is a gap between the rotating drum 1 (2013) and the connecting plate (2011).

3. The special operation robot system with a rope-driven self-locking flexible joint mechanism according to claim 1, characterized in that: The first rotating drum (2013) is provided with a spiral groove (2014) for the driving rope (207) to be wound around.

4. The special operation robot system with a rope-driven self-locking flexible joint mechanism according to claim 1, characterized in that: The ear plate (2012) is located on the inner side of the support plate (2022).

5. The special operation robot system with a rope-driven self-locking flexible joint mechanism according to claim 1, characterized in that: The driving device comprises a reduction motor (203) arranged on the upper end surface of the base (2021), and a steering mechanism is arranged between the reduction motor (203) and the second rotating drum (211).

6. The special operation robot system with a rope-driven self-locking flexible joint mechanism according to claim 5, characterized in that: The steering mechanism comprises a worm (204) fixedly connected to the reduction motor (203); the worm (204) is meshed with a worm wheel (205); and the worm wheel (205) is coaxially arranged with the second rotating drum (211).

7. The special operation robot system with a rope-driven self-locking flexible joint mechanism according to claim 6, characterized in that: The base (2021) is provided with a worm transmission hole (2027) for the shaft of the worm (204) to pass through.

8. The special operation robot system with a rope-driven self-locking flexible joint mechanism according to claim 1, characterized in that: The guide structure comprises a guide sleeve (212) symmetrically arranged on the base (2021); a fixed pulley 1 (208) is arranged below the guide sleeve (212) and is distributed on the same side of the guide sleeve in the Z-axis direction; a fixed pulley 2 (209) is arranged on the side of the fixed pulley 1 (208) away from the guide sleeve (212) and is distributed perpendicularly to the guide sleeve in the Y-axis direction; and the drive rope (207) passes through the guide sleeve (212), the fixed pulley 1 (208) and the fixed pulley 2 (209) in sequence.

9. The special operation robot system with a rope-driven self-locking flexible joint mechanism according to claim 8, characterized in that: The fixed pulley 1 (208) and the fixed pulley 2 (209) are respectively arranged at the bottom of the base (2021) through a fixed pulley 1 mounting frame (2025) and a fixed pulley 2 mounting frame (2029); the guide sleeve (212) is arranged in a guide sleeve mounting hole (2028) opened on the base (2021).

10. The special operation robot system with a rope-driven self-locking flexible joint mechanism according to claim 1, characterized in that: The detection mechanism comprises pressure sensors (206) symmetrically arranged on both sides of the second rotating drum (211); a sensing roller (210) is arranged at the bottom of the pressure sensor (206); and the driving rope (207) passes around the sensing roller (210); the pressure sensor (206) is arranged at the bottom of the base (2021) through a pressure sensor mounting frame (2026).

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