Operation and maintenance robot and operation and maintenance method for offshore wind power platform machine room

Abstract

The invention discloses an operation and maintenance robot and an operation and maintenance method for an offshore wind power platform machine room, belongs to the technical field of wind power operation and maintenance equipment, and aims to solve the technical problem that an inspection robot in the prior art is difficult to judge and solve complex problems or special faults existing in the machine. The robot comprises a walking assembly, a mechanical arm assembly, a functional assembly and a control assembly. Wherein the mechanical arm assembly is carried on the walking assembly and comprises a first degree-of-freedom assembly, a second degree-of-freedom assembly, a third degree-of-freedom assembly, a fourth degree-of-freedom assembly, a fifth degree-of-freedom assembly and a sixth degree-of-freedom assembly which are connected with one another, and the functional assembly is detachably arranged at the tail end of the mechanical arm assembly. And efficient operation and maintenance work is carried out through the mechanical arm assembly and the functional assembly. The method can be better suitable for operation and maintenance work of machine equipment under special working conditions, the application range is wide, the operation and maintenance efficiency is high, and the labor cost and the operation and maintenance risk of the offshore wind power platform machine room are reduced on the whole.

Description

Technical Field

[0001] The present invention relates to the technical field of wind power operation and maintenance equipment, and in particular to an operation and maintenance robot and an operation and maintenance method for an offshore wind power platform machine room. Background Art

[0002] The offshore environment is harsh, and wind turbine platforms are long-term eroded by natural factors such as wind, waves, and salt spray. The equipment is very easy to be damaged, so it is necessary to regularly inspect and maintain the mechanical equipment. Usually, wind turbine platforms are usually located in sea areas far away from land, and there are usually few people in the machine room. Every time maintenance and repair are required, people need to take a boat to the platform for repair. Therefore, manual operation and maintenance requires a lot of manpower and material resources, and the cost is high.

[0003] In addition, there are certain risks in the operation and maintenance of wind power platforms, especially in severe weather conditions, where the safety of operation and maintenance personnel is difficult to guarantee. The functions of many machine room operation and maintenance robots focus more on monitoring the operating conditions of machinery and cannot be used to deal with some functional problems of machinery. In addition, the offshore environment is complex and changeable, which places high demands on the adaptability and stability of robots. Secondly, there are many types of equipment on wind power platforms, which places high demands on the operation ability and flexibility of robots.

[0004] In the prior art, the inspection robots used for wind power platforms have relatively simple functions and are difficult to judge and solve complex problems or special faults existing in the machines. They can only complete daily inspection work and simple maintenance tasks.

[0005] Therefore, there is an urgent need for an operation and maintenance robot that can adapt to special working conditions and diagnose and solve special machine failures under special working conditions. Summary of the invention

[0006] The purpose of the present invention is to provide an operation and maintenance robot and operation and maintenance method for an offshore wind power platform machine room, so as to solve the technical problem that inspection robots in the prior art are difficult to judge and solve complex problems or special faults existing in the machine.

[0007] To achieve the above object, the present invention provides the following technical solutions:

[0008] The present invention provides an operation and maintenance robot for an offshore wind power platform machine room, comprising:

[0009] Walking components;

[0010] A mechanical arm assembly, wherein the mechanical arm assembly is mounted on the walking assembly; the mechanical arm assembly comprises a first degree of freedom assembly, a second degree of freedom assembly, a third degree of freedom assembly, a fourth degree of freedom assembly, a fifth degree of freedom assembly and a sixth degree of freedom assembly; the first degree of freedom assembly is movably connected to the second degree of freedom assembly, the second degree of freedom assembly is movably connected to the third degree of freedom assembly via a first connecting tube, the third degree of freedom assembly is movably connected to the fourth degree of freedom assembly via a second connecting tube, the fourth degree of freedom assembly is movably connected to the fifth degree of freedom assembly, and the fifth degree of freedom assembly is movably connected to the sixth degree of freedom assembly via a third connecting tube; the first degree of freedom assembly, the second degree of freedom assembly, the third degree of freedom assembly, the fourth degree of freedom assembly, the fifth degree of freedom assembly and the sixth degree of freedom assembly all comprise a motor, a reducer and a housing;

[0011] a functional component, wherein the functional component is connected to the mechanical arm component via the sixth degree of freedom component;

[0012] The control component, the walking component, the mechanical arm component and the functional component are electrically connected to the control component respectively.

[0013] The robot arm assembly in the present invention includes a plurality of connected degree-of-freedom assemblies to realize multi-degree-of-freedom motion of the robot arm, thereby realizing the all-round working requirements of the robot arm.

[0014] Optionally or preferably, the travel assembly includes a vehicle body and a plurality of travel units arranged on the vehicle body;

[0015] The walking unit includes a wheel, a driving motor, a reduction box and a gearbox; the output end of the driving motor is connected to the input end of the reduction box, the output end of the reduction box is connected to the input end of the gearbox, and the output end of the gearbox is connected to the wheel.

[0016] Optionally or preferably, the gearbox includes a gearbox housing, a plurality of gears are arranged in the gearbox housing, the plurality of gears are meshed with each other, a gear shaft of the last gear is connected to a wheel shaft, and the wheel shaft is key-connected to the wheel portion;

[0017] The vehicle body is also provided with a corresponding battery compartment, in which a battery is arranged, and the battery is used for powering the device.

[0018] Optionally or preferably, the functional component includes a clamping jaw assembly, and the clamping jaw assembly is connected to the sixth degree of freedom component via a connecting plate;

[0019] The end of the clamping jaw assembly is a clamping portion, and the clamping jaw assembly clamps an object through the clamping portion;

[0020] The clamping jaw assembly is provided with a camera bracket, and the camera bracket is provided with an image acquisition device, and the image acquisition device is used to acquire image information.

[0021] Optionally or preferably, a tool box is further provided on the vehicle body, and a receiving cavity is formed in the tool box;

[0022] A plurality of partitions are arranged in the tool box, and the plurality of partitions divide the accommodating cavity into a plurality of grid-shaped placement units, and the placement units are used for placing tools.

[0023] The present invention divides the accommodating cavity of the tool box into a plurality of placement units, and each placement unit has corresponding position information, so that it is convenient for the functional component to grab the tool and the image acquisition device to identify the tool.

[0024] Optionally or preferably, the control component includes a trigger condition comparator, and the trigger condition comparator includes a register, an actuator 1 and an actuator 2;

[0025] The trigger condition comparator is used to compare the inspection data collected by the operation and maintenance robot with the preset sampling value, and determine whether the machine being inspected is in a normal working state.

[0026] Optionally or preferably, the operation and maintenance robot further includes a wireless communication module and a remote control module;

[0027] The wireless communication module is used to send the test result value to the corresponding site;

[0028] The remote control module is used for remote control of the operation and maintenance robot by personnel.

[0029] An operation and maintenance method for an offshore wind power platform machine room comprises the following steps;

[0030] S1. Control the operation and maintenance robot to move to the target position, open the control toolbox, and start the machine operation and maintenance work;

[0031] S2. Based on the coordinate information of the operation and maintenance robot before starting the operation and maintenance work, set the initial recognition action position of the robot arm assembly, the precise recognition action position, and the placement position of the operation and maintenance tools;

[0032] S3, controlling the mechanical arm assembly to move to the initial recognition action position, and further moving to the precise recognition action position under the recognition and guidance of the image acquisition device and the control assembly;

[0033] S4, identifying the machine through an image acquisition device, obtaining characteristic parameters of the machine, and uploading the position information to the control module, which obtains the Euler angle data of the rotation of each degree of freedom component of the robotic arm component after calculation;

[0034] S5. Based on the Euler angle data, control the robot arm assembly to move to the corresponding position, use the corresponding tool to perform inspection work, and transmit the inspection result to the trigger condition comparator, which determines whether the machine is in a normal working state;

[0035] If the machine is in normal working condition, continue to execute S6;

[0036] If the machine is not in normal working condition, further determine the fault type;

[0037] S6. After the operation and maintenance of the first machine is completed, the robot arm assembly puts the tool back into the tool box, and the robot arm assembly returns to the initial recognition action position;

[0038] S7, the operation and maintenance robot moves to the next target position and starts the operation and maintenance work of the next machine;

[0039] S8, repeat steps S2 to S7 until the operation and maintenance of all machines are completed, and the control toolbox is closed;

[0040] S9. Control the operation and maintenance robot to move to the charging station for charging and standby.

[0041] Optionally or preferably, the method in S4 for the control module to calculate the rotation Euler angle data of each degree of freedom component of the robotic arm component comprises the following steps:

[0042] S41, setting the robot coordinate system as the base coordinate system, taking the center of the circle at the lower end surface of the chassis of the robot arm assembly as the coordinate origin, the X-axis and the Y-axis are in the plane of the upper end surface of the vehicle body, the X-axis is vertically pointing to the toolbox, the Y-axis is perpendicular to the X-axis, and the Z-axis is vertically upward;

[0043] S42. Based on the characteristic parameters of the machine, the coordinate information of each component on the surface of the machine is obtained, and the coordinate information of each component is converted to the base coordinate system by the DH parameter method. The conversion method is:

[0044]

[0045] in, is the conversion relationship between coordinate system [i] and coordinate system [i-1], [i] is the reference system after coordinate conversion, [i-1] is the reference system before coordinate conversion, α i-1 The coordinate system [i-1] needs to be rotated around X i-1 Axis rotation α i-1 Angle, so that Z i-1 Axis and Z i Axis parallel; ai-1 is the coordinate system [i-1] along the X i-1 Axis translation a i-1 The length of Z i-1 Axis and Zi Axis collinearity; θ i The coordinate system [i-1] needs to be rotated around Z i-1 Axis rotation θ i Angle so that X i-1 Axis and X i Axis parallel; d i For coordinate system [i-1], it is necessary to follow Z i-1 Axis translation d i The length of X i-1 Axis and X i Axes are collinear;

[0046] S43, obtain the transformation homogeneous matrix of the robot arm assembly from the base coordinate system to the end coordinate system

[0047]

[0048] in, is the transformation from the base coordinate system to the second degree of freedom component coordinate system, is the transformation from the coordinate system of the second degree of freedom component to the coordinate system of the third degree of freedom component, is the transformation from the third degree of freedom component coordinate system to the fourth degree of freedom component coordinate system, is the transformation from the fourth degree of freedom component coordinate system to the fifth degree of freedom component coordinate system, is the transformation from the fifth degree of freedom component coordinate system to the sixth degree of freedom component coordinate system, is the transformation from the sixth degree of freedom component coordinate system to the end coordinate system, is the rotation relationship from the base coordinate system to the terminal coordinate system, is the position offset from the base coordinate system to the terminal coordinate system;

[0049] S44, rotate the base coordinate system by angles of γ, β, and α along the X-axis, Y-axis, and Z-axis, respectively, and convert them into a rotation matrix:

[0050]

[0051]

[0052] Among them, γ, β, and α are the Euler angles along the X-axis, Y-axis, and Z-axis of the base coordinate system, respectively. X (γ), R Y (β), R Z (α) is the rotation matrix corresponding to the Euler angles γ, β, and α respectively;

[0053] S45. Given a rotation matrix, determine the Euler angle:

[0054]

[0055] Where R is the overall rotation matrix of the robotic arm assembly.

[0056] Optionally or preferably, the method in S5 for the trigger condition comparator to determine whether the machine is in a normal working state comprises the following steps:

[0057] S51, preset a sampling value in the trigger condition comparator, adopt a fixed threshold event trigger mechanism, when the sampling deviation exceeds the preset sampling value, trigger the actuator action, and upload the sampling data at the triggering moment to the control component;

[0058] The fixed threshold event trigger conditions are set as:

[0059] e(t)=x(t)-x(t k )

[0060] t k+1 =inf{t>tk|γ(|e(t)|)≥m1}

[0061] t k+1 = inf{t>t k |γ(|e(t)|)≥m2}

[0062] m1>m2

[0063] Where e(t) is the error between the sampling value at different sampling time points and the previous sampling value, x(·) is the sampling value, t is the sampling time point, and t k is the sampling time point corresponding to a certain moment, t k+1 is the next sampling time point corresponding to a certain moment, and min{t k+1 -t k}≥0, inf is the infimum of the set, γ(·) is K ∞ function, m1 and m2 are preset sampling values ​​or fixed thresholds, where the trigger condition judgment of m1 precedes the trigger condition judgment of m2;

[0064] S52, the operation and maintenance robot uses the corresponding tool to detect the machine, and sends the detection result value to the trigger condition comparator, compares it with the preset sampling value in the register and obtains the sampling deviation;

[0065] When the sampling deviation does not reach the trigger condition, that is, the sampling deviation function value is less than m2, it is determined that the machine is in a normal working state, and the value of the detection result is input into the register to overwrite the preset sampling value in the register, and continue to execute step S6;

[0066] When the sampling deviation reaches the trigger condition, it includes:

[0067] a. If the sampling deviation function value is greater than or equal to m2 but less than m1, the machine is judged to be a common fault. Once the actuator works, the robot arm assembly is controlled to perform maintenance work according to the preset maintenance plan, and the value of the test result is sent to the corresponding station for storage, but is no longer input into the register;

[0068] After the maintenance is completed, S5 is executed again until it is determined that the machine is in normal working condition;

[0069] b. If the sampling deviation function value is greater than or equal to m1, the machine is judged to have a special fault, and actuator 2 works. At this time, the operation and maintenance robot is remotely controlled by humans to solve the special fault. The value of the detection result is sent to the corresponding site for storage, but is no longer input into the register;

[0070] After the maintenance is completed, the operation and maintenance robot exits the manual remote control and executes S5 again until it determines that the machine is in normal working condition.

[0071] Based on the above technical solution, the present invention can at least produce the following technical effects:

[0072] The present invention provides an operation and maintenance robot for an offshore wind power platform machine room, which is used to replace manual labor to complete the maintenance and repair work of the offshore wind power platform machine room equipment; the walking unit adopts a Mecanum wheel driven by a servo motor, thereby improving the flexibility of the overall movement and rotation of the robot; through a mechanical arm assembly with multiple degrees of freedom, it has high flexibility and can complete part of the operation and maintenance work in conjunction with corresponding tools; in addition, by providing a wireless communication module and a remote control module, the robot can be remotely controlled and data transmitted, thereby reducing the labor cost and operation and maintenance risk of the offshore wind power platform machine room as a whole;

[0073] In addition, the multiple grid-shaped placement units set in the toolbox can cooperate with the robotic arm assembly to accurately pick up and place the corresponding tools, thereby improving the inspection and operation and maintenance efficiency of the robot.

[0074] The present invention provides an operation and maintenance method for an offshore wind power platform machine room. Through an image acquisition device and a machine fault category judgment method, the machine fault type can be accurately identified, and corresponding treatment can be performed according to different fault types, thereby improving the machine inspection and operation and maintenance efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0075] Figure 1 It is a schematic diagram of the overall structure of the operation and maintenance robot used in the machine room of an offshore wind power platform according to the present invention;

[0076] Figure 2 It is a schematic diagram of the bottom structure of the vehicle body of the operation and maintenance robot used in the machine room of an offshore wind power platform of the present invention;

[0077] Figure 3 yes Figure 2 A partial enlarged schematic diagram of the middle A part;

[0078] Figure 4 It is a side view of the operation and maintenance robot used in the machine room of an offshore wind power platform according to the present invention;

[0079] Figure 5 It is a structural schematic diagram of a mechanical arm assembly in an operation and maintenance robot used in an offshore wind power platform machine room according to the present invention;

[0080] Figure 6 yes Figure 4 A schematic diagram of the enlarged area of ​​the middle B part;

[0081] Figure 7 yes Figure 4 A schematic diagram of the enlarged area of ​​the middle C section;

[0082] Figure 8 yes Figure 4 A schematic diagram of the enlarged area of ​​the middle D part;

[0083] Fig. 9 It is a structural schematic diagram of functional components in the operation and maintenance robot used in the machine room of an offshore wind power platform according to the present invention;

[0084] Fig.10 It is a flow chart of the operation and maintenance method of the offshore wind power platform machine room of the present invention.

[0085] In the figure: 100, walking assembly; 110, vehicle body; 111, battery compartment; 112, battery; 113, tool box; 120, walking unit; 121, wheel; 122, drive motor; 123, reduction box; 124, gearbox; 1241, gearbox housing; 1242, gear; 1243, wheel axle; 200, mechanical arm assembly; 210, first degree of freedom assembly; 2101, reducer 1; 2102, housing 1; 2103, motor 1; 2104, rear cover 1; 2105, base; 220, second degree of freedom assembly; 2201, reducer 2; 2202, housing 2; 2203, motor 2; 2204, rear cover 2; 230, third degree of freedom Component; 2301, reducer three; 2302, housing three; 2303, motor three; 2304, back cover three; 2305, connecting cover; 240, fourth degree of freedom component; 2401, reducer four; 2402, housing four; 2403, motor four; 2404, back cover four; 250, fifth degree of freedom component; 2501, reducer five; 2502, housing five; 2503, motor five; 2504, back cover five; 260, sixth degree of freedom component; 270, first connecting tube; 280, second connecting tube; 290, third connecting tube; 300, functional component; 310, gripping assembly; 320, connecting plate; 330, camera bracket; 340, image acquisition device. DETAILED DESCRIPTION

[0086] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention; it is obvious that the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments, and all other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making creative work belong to the scope of protection of the present invention.

[0087] Embodiment 1:

[0088] See also Figure 1 A maintenance robot for an offshore wind power platform room includes a walking assembly 100, an upper end surface of the walking assembly 100 is equipped with a mechanical arm assembly 200, and an execution end of the mechanical arm assembly 200 is provided with a replaceable functional assembly 300.

[0089] In addition, in order to realize the automatic operation and remote control of the robot, in this embodiment, at least a control component, a wireless communication module and a remote control module should be included.

[0090] The control component is electrically connected to the corresponding structures in the walking component 100, the robotic arm component 200 and the functional component 300 respectively to process and transmit control signals; one of the functions of the wireless communication module is to send the detection result values ​​generated by the robot to the corresponding site; one of the functions of the remote control module is to allow personnel to remotely control the robot.

[0091] See also Figures 1 to 3 In this embodiment, the walking assembly 100 includes a vehicle body 110 and four walking units 120 arranged at the lower part of the vehicle body 110; specifically, the walking unit 120 includes a wheel portion 121, a driving motor 122, a reduction box 123 and a gearbox 124; wherein the output end of the driving motor 122 is connected to the input end of the reduction box 123, the output end of the reduction box 123 is connected to the input end of the gearbox 124, and the output end of the gearbox 124 is connected to the wheel portion 121.

[0092] The above-mentioned gearbox 124 includes a gearbox case 1241, in which three mutually meshing gears 1242 are arranged, and each gear 1242 is connected to the gearbox case 1241 through a gear shaft and two deep groove ball bearings; in this embodiment, the gear 1242 directly connected to the reduction box 123 is the first gear, and correspondingly, the gear 1242 connected to the wheel part 121 is the last gear; specifically, the gear shaft of the last gear is connected to the wheel shaft 1243 (through a coupling), and the wheel shaft 1243 and the wheel part 121 are connected by a conventional key.

[0093] In order to improve the flexibility of the robot's walking motion under special working conditions, in this embodiment, the wheel portion 121 is a Mecanum wheel.

[0094] In addition, a battery compartment 111 is disposed in the vehicle body 110 , and a battery 112 is disposed in the battery compartment 111 . In this embodiment, each component of the robot is powered by the battery 112 .

[0095] See also Figure 1 , Figures 4 to 9 In this embodiment, the robot arm assembly 200 is composed of a first degree of freedom assembly 210, a second degree of freedom assembly 220, a third degree of freedom assembly 230, a fourth degree of freedom assembly 240, a fifth degree of freedom assembly 250 and a sixth degree of freedom assembly 260. The first degree of freedom assembly 210 is mounted on the upper end surface of the vehicle body 110, and the functional assembly 300 is fixed to the end of the sixth degree of freedom assembly 260.

[0096] As can be understood by those skilled in the art, the first degree of freedom assembly 210, the second degree of freedom assembly 220, the third degree of freedom assembly 230, the fourth degree of freedom assembly 240, the fifth degree of freedom assembly 250 and the sixth degree of freedom assembly 260 all include a motor, a reducer and a housing; each degree of freedom assembly is driven by its own motor and cooperates with each other to realize the grasping function of the functional component 300.

[0097] Specifically, the first degree of freedom component 210 includes a reducer 2101, a housing 2102, a motor 2103, a back cover 2104 and a base 2105; the second degree of freedom component 220 includes a reducer 2201, a housing 2202, a motor 2203 and a back cover 2204; the third degree of freedom component 230 includes a reducer 3 2301, a housing 3 2302, a motor 3 2303, a back cover 3 2304 and a connecting cover 2305; the fourth degree of freedom component 240 includes a reducer 4 2401, a housing 4 2402, a motor 4 2403 and a back cover 4 2404; the fifth degree of freedom component 250 includes a reducer 5 2501, a housing 5 2502, a motor 5 2503 and a back cover 5 2504; accordingly, the sixth degree of freedom component 260 should also include a reducer 6 (not shown in the figure), a housing 6, a motor 6 (not shown in the figure) and a back cover 6.

[0098] The specific connection relationship between the various degree-of-freedom components is as follows: the robot arm component 200 is connected to the upper end surface of the vehicle body 110 through the base 2105, the motor 1 2103 rotates, and through the transmission of the reducer 1 2101, the entire first degree-of-freedom component 210 is driven to rotate, thereby realizing the first degree of freedom of the robot arm; the second degree-of-freedom component 220 is tightly connected to the first degree-of-freedom component 210, the motor 2203 rotates, and through the transmission of the reducer 2201, the entire second degree-of-freedom component 220 is driven to rotate, thereby realizing the second degree of freedom of the robot arm; the third degree-of-freedom component 230 is connected to the second degree-of-freedom component 220 through the first connecting tube 270, the motor 3 2303 rotates, and through the transmission of the reducer 3 2301, the entire third degree-of-freedom component 230 is driven to rotate, thereby realizing the robot arm. The third degree of freedom of the robotic arm; the fourth degree of freedom assembly 240 is connected to the third degree of freedom assembly 230 through the second connecting tube 280, the motor four 2403 rotates, and through the transmission of the reducer four 2401, the entire fourth degree of freedom assembly 240 is driven to rotate, thereby realizing the fourth degree of freedom of the robotic arm; the fifth degree of freedom assembly 250 is tightly connected to the fourth degree of freedom assembly 240, the motor five 2503 rotates, and through the transmission of the reducer five 2501, the entire fifth degree of freedom assembly 250 is driven to rotate, thereby realizing the fifth degree of freedom of the robotic arm; the sixth degree of freedom assembly 260 is connected to the fifth degree of freedom assembly 250 through the third connecting tube 290, the motor six rotates, and through the transmission of the reducer six, the entire sixth degree of freedom assembly 260 is driven to rotate, thereby realizing the sixth degree of freedom of the robotic arm.

[0099] In this embodiment, the functional component 300 is a clamping claw component with a clamping function. In other embodiments, the operator can replace the functional component 300 according to actual work needs to meet different work requirements.

[0100] See also Fig. 9 In this embodiment, the functional component 300 includes a clamping jaw assembly 310, which is connected to the end of the sixth degree of freedom component 260 through a connecting plate 320. Furthermore, a connecting base is also provided at the end of the sixth degree of freedom component 260, and the connecting plate 320 is fixed on the connecting base, thereby driving the clamping jaw assembly 310 to rotate; the end of the clamping jaw assembly 310 is a clamping jaw for realizing the clamping function.

[0101] In this embodiment, a camera bracket 330 is also provided on the gripper assembly 310, and a corresponding image acquisition device 340 is provided on the camera bracket 330. Through the image acquisition device 340, the robot can identify the required tool type, machine component position, etc., so that the robot can achieve accurate tool picking and fault identification functions under the recognition guidance of the control component and the image acquisition device 340.

[0102] Please continue reading Figure 1A toolbox 113 is fixedly arranged on the upper end surface of the vehicle body 110. In order to facilitate the image acquisition device 340 to identify the position of the required tool and realize accurate picking, in this embodiment, a plurality of partitions are arranged in the toolbox 113. The plurality of partitions divide the toolbox 113 accommodating cavity into a plurality of grid-shaped placement units. The placement units are used to place tools. Each placement unit has preset specific coordinate information to reduce the recognition difficulty of the image acquisition device 340.

[0103] In this embodiment, the control component is designed based on the stm32 single-chip microcomputer. It can be understood that it includes multiple functional modules, including a power module, a communication module, a Bluetooth module, a motor drive module, a vision module, etc.

[0104] In addition, in order for the robot to accurately identify the fault type of the machine and take corresponding measures according to different fault types, in this embodiment, the control component also includes a trigger condition comparator, which includes a register, actuator one and actuator two; the trigger condition comparator is used to compare the inspection data collected by the operation and maintenance robot with the preset sampling value, and determine whether the machine being inspected is in a normal working state.

[0105] Embodiment two:

[0106] This embodiment provides an operation and maintenance method for an offshore wind power platform machine room based on the first embodiment, which uses the operation and maintenance robot in the first embodiment to perform operation and maintenance work on the offshore wind power platform machine room, including the following steps:

[0107] S1, control the operation and maintenance robot to move to the target position, control the tool box 113 to open, and start the machine operation and maintenance work;

[0108] S2, based on the coordinate information of the operation and maintenance robot before starting the operation and maintenance work, setting the initial recognition action position, precise recognition action position and placement position of the operation and maintenance tools of the robot arm assembly 200;

[0109] S3, controlling the mechanical arm assembly 200 to move to the initial recognition action position, and further moving to the precise recognition action position under the recognition and guidance of the image acquisition device 340 and the control assembly;

[0110] S4, identifying the machine through the image acquisition device 340, obtaining the characteristic parameters of the machine, and uploading the position information to the control module, which obtains the Euler angle data of the rotation of each degree of freedom component of the robot arm assembly 200 after calculation;

[0111] In this embodiment, the method for the control module to calculate the rotation Euler angle data of each degree of freedom component of the robot arm assembly 200 includes the following steps:

[0112] S41, setting the robot coordinate system as the base coordinate system, taking the center of the circle at the lower end surface of the chassis of the robot arm assembly 200 as the coordinate origin, the X-axis and the Y-axis are in the plane of the upper end surface of the vehicle body 110, the X-axis is vertically pointing to the toolbox 113, the Y-axis is perpendicular to the X-axis, and the Z-axis is vertically upward;

[0113] S42. Based on the characteristic parameters of the machine, the coordinate information of each component on the surface of the machine is obtained, and the coordinate information of each component is converted to the base coordinate system by the DH parameter method. The conversion method is:

[0114]

[0115] in, is the conversion relationship between coordinate system [i] and coordinate system [i-1], [i] is the reference system after coordinate conversion, [i-1] is the reference system before coordinate conversion, α i-1 The coordinate system [i-1] needs to be rotated around X i-1 Axis rotation α i-1 Angle, so that Z i-1 Axis and Z i Axis parallel; a i-1 For coordinate system [i-1], it is necessary to follow X i-1 Axis translation a i-1 The length of Z i-1 Axis and Z i Axis collinearity; θ i The coordinate system [i-1] needs to be rotated around Z i-1 Axis (also Z i Axis) rotation θ i Angle so that X i-1 Axis and X i Axis parallel; d i For coordinate system [i-1], it is necessary to follow Z i-1 Axis (also Z i axis) translation d i The length of X i-1 Axis and X i Axes are collinear;

[0116] S43, obtain the transformation homogeneous matrix of the robot arm assembly 200 from the base coordinate system to the end coordinate system

[0117]

[0118] in, is the transformation from the base coordinate system to the coordinate system of the second degree of freedom component 220, is the conversion from the coordinate system of the second degree of freedom component 220 to the coordinate system of the third degree of freedom component 230, is the conversion from the coordinate system of the third degree of freedom component 230 to the coordinate system of the fourth degree of freedom component 240, is the conversion from the coordinate system of the fourth degree of freedom component 240 to the coordinate system of the fifth degree of freedom component 250, is the conversion from the coordinate system of the fifth degree of freedom component 250 to the coordinate system of the sixth degree of freedom component 260, is the conversion from the sixth degree of freedom component 260 coordinate system to the end coordinate system, is the rotation relationship from the base coordinate system to the terminal coordinate system, is the position offset from the base coordinate system to the terminal coordinate system;

[0119] S44, rotate the base coordinate system by angles of γ, β, and α along the X-axis, Y-axis, and Z-axis, respectively, and convert them into a rotation matrix:

[0120]

[0121] Among them, γ, β, and α are the Euler angles along the X-axis, Y-axis, and Z-axis of the base coordinate system, respectively. X (γ), R Y (β), R Z (α) is the rotation matrix corresponding to the Euler angles γ, β, and α respectively;

[0122] S45. Given a rotation matrix, determine the Euler angle:

[0123]

[0124] Wherein, R is the overall rotation matrix of the robot arm assembly 200 .

[0125] S5. Based on the Euler angle data, control the robot arm assembly 200 to move to the corresponding position, use the corresponding tool to perform inspection work, and transmit the inspection result to the trigger condition comparator, which determines whether the machine is in a normal working state;

[0126] If the machine is in normal working condition, continue to execute S6;

[0127] In this embodiment, the method for the trigger condition comparator to determine whether the machine is in a normal working state includes the following steps:

[0128] S51, preset a sampling value in the trigger condition comparator, adopt a fixed threshold event trigger mechanism, when the sampling deviation exceeds the preset sampling value, trigger the actuator action, and upload the sampling data at the triggering moment to the control component;

[0129] The fixed threshold event trigger conditions are set as:

[0130] e(t)=x(t)-x(t k )

[0131] t k+1= inf{t>t k |γ(|e(t)|)≥m1}

[0132] t k+1 = inf{t>t k |γ(|e(t)|)≥m2}

[0133] m1>m2

[0134] Where e(t) is the error between the sampling value at different sampling time points and the previous sampling value, x(·) is the sampling value, t is the sampling time point (discrete variable), t k is the sampling time point corresponding to a certain moment, t k+1 is the next sampling time point corresponding to a certain moment, and min{t k+1 -t k}≥0, inf is the infimum of the set, γ(·) is K ∞ function, m1 and m2 are preset sampling values ​​or fixed thresholds, where the trigger condition judgment of m1 precedes the trigger condition judgment of m2;

[0135] S52, the operation and maintenance robot uses the corresponding tool to detect the machine, and sends the detection result value to the trigger condition comparator, compares it with the preset sampling value in the register and obtains the sampling deviation;

[0136] When the sampling deviation does not reach the trigger condition, that is, the sampling deviation function value is less than m2, it is determined that the machine is in a normal working state, and the value of the detection result is input into the register to overwrite the preset sampling value in the register, and continue to execute step S6;

[0137] If the machine is not in normal working condition, further determine the fault type;

[0138] In this embodiment, the method for determining the fault type is:

[0139] When the sampling deviation reaches the trigger condition, it includes:

[0140] a. If the sampling deviation function value is greater than or equal to m2 but less than m1, the machine is judged to be a common fault. Once the actuator works, the mechanical arm assembly 200 is controlled to perform maintenance work according to the preset maintenance plan, and the value of the detection result is sent to the corresponding station for storage, but is no longer input into the register;

[0141] After the maintenance is completed, S5 is executed again until it is determined that the machine is in normal working condition;

[0142] b. If the sampling deviation function value is greater than or equal to m1, the machine is judged to have a special fault, and actuator 2 works. At this time, the operation and maintenance robot is remotely controlled by humans to solve the special fault. The value of the detection result is sent to the corresponding site for storage, but is no longer input into the register;

[0143] After the maintenance is completed, the operation and maintenance robot exits the manual remote control and executes S5 again until it determines that the machine is in normal working condition.

[0144] S6, after the operation and maintenance of the first machine is completed, the robot arm assembly 200 puts the tool back into the tool box 113, and the robot arm assembly 200 returns to the initial recognition action position;

[0145] S7, the operation and maintenance robot moves to the next target position and starts the operation and maintenance work of the next machine;

[0146] S8, repeating steps S2 to S7 until the operation and maintenance of all machines are completed, and the control tool box 113 is closed;

[0147] S9. Control the operation and maintenance robot to move to the charging station for charging and standby.

[0148] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "mounted / connected", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0149] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An operation and maintenance robot for an offshore wind power platform machine room, characterized in that: include: Walking assembly (100); A mechanical arm assembly (200), wherein the mechanical arm assembly (200) is mounted on the walking assembly (100); the mechanical arm assembly (200) comprises a first degree of freedom assembly (210), a second degree of freedom assembly (220), a third degree of freedom assembly (230), a fourth degree of freedom assembly (240), a fifth degree of freedom assembly (250) and a sixth degree of freedom assembly (260); the first degree of freedom assembly (210) and the second degree of freedom assembly (220) are movably connected, the second degree of freedom assembly (220) and the third degree of freedom assembly (230) are movably connected via a first connecting pipe (270), and the first degree of freedom assembly (210) and the second degree of freedom assembly (220) are movably connected via a first connecting pipe (270). The three-degree-of-freedom assembly (230) is movably connected to the fourth-degree-of-freedom assembly (240) via a second connecting tube (280), the fourth-degree-of-freedom assembly (240) is movably connected to the fifth-degree-of-freedom assembly (250), and the fifth-degree-of-freedom assembly (250) is movably connected to the sixth-degree-of-freedom assembly (260) via a third connecting tube (290); the first-degree-of-freedom assembly (210), the second-degree-of-freedom assembly (220), the third-degree-of-freedom assembly (230), the fourth-degree-of-freedom assembly (240), the fifth-degree-of-freedom assembly (250), and the sixth-degree-of-freedom assembly (260) all include a motor, a reducer, and a housing; A functional component (300), wherein the functional component (300) is connected to the mechanical arm component (200) via the sixth degree of freedom component (260); The control component, the walking component (100), the mechanical arm component (200) and the functional component (300) are respectively electrically connected to the control component.

2. The operation and maintenance robot for an offshore wind power platform machine room according to claim 1, characterized in that: The travel assembly (100) comprises a vehicle body (110) and a plurality of travel units (120) arranged on the vehicle body (110); The walking unit (120) comprises a wheel portion (121), a driving motor (122), a reduction box (123) and a gearbox (124); the output end of the driving motor (122) is connected to the input end of the reduction box (123), the output end of the reduction box (123) is connected to the input end of the gearbox (124), and the output end of the gearbox (124) is connected to the wheel portion (121); The wheel portion (121) is a Mecanum wheel.

3. The operation and maintenance robot for an offshore wind power platform machine room according to claim 2, characterized in that: The gearbox (124) comprises a gearbox housing (1241), a plurality of gears (1242) are arranged in the gearbox housing (1241), the plurality of gears (1242) are meshed with each other, the gear shaft of the last gear (1242) is connected to a wheel shaft (1243), and the wheel shaft (1243) is key-connected to the wheel portion (121); A corresponding battery compartment (111) is also provided on the vehicle body (110), and a battery (112) is provided in the battery compartment (111), and the battery (112) is used to supply energy to the device.

4. The operation and maintenance robot for an offshore wind power platform machine room according to claim 1, characterized in that: The functional component (300) comprises a clamping jaw assembly (310), and the clamping jaw assembly (310) is connected to the sixth degree of freedom component (260) via a connecting plate (320); The end of the clamping jaw assembly (310) is a clamping portion, and the clamping jaw assembly (310) clamps an object through the clamping portion; The clamping jaw assembly (310) is provided with a camera bracket (330), and the camera bracket (330) is provided with an image acquisition device (340), and the image acquisition device (340) is used to acquire image information.

5. The operation and maintenance robot for an offshore wind power platform machine room according to claim 1, characterized in that: The vehicle body (110) is also provided with a tool box (113), and a receiving cavity is formed in the tool box (113); A plurality of partitions are arranged in the tool box (113), and the plurality of partitions divide the accommodating cavity into a plurality of grid-shaped placement units, and the placement units are used to place tools.

6. The operation and maintenance robot for an offshore wind power platform machine room according to claim 1, characterized in that: The control component includes a trigger condition comparator, and the trigger condition comparator includes a register, an actuator 1 and an actuator 2; The trigger condition comparator is used to compare the inspection data collected by the operation and maintenance robot with the preset sampling value, and determine whether the machine being inspected is in a normal working state.

7. The operation and maintenance robot for an offshore wind power platform machine room according to claim 1, characterized in that: The operation and maintenance robot also includes a wireless communication module and a remote control module; The wireless communication module is used to send the test result value to the corresponding site; The remote control module is used for remote control of the operation and maintenance robot by personnel.

8. An operation and maintenance method for an offshore wind power platform machine room, characterized in that: The operation and maintenance work of an offshore wind power platform machine room is performed based on the operation and maintenance robot described in any one of claims 1 to 7, comprising the following steps: S1, control the operation and maintenance robot to move to the target position, control the tool box (113) to open, and start the machine operation and maintenance work; S2, based on the coordinate information of the operation and maintenance robot before starting the operation and maintenance work, setting the initial recognition action position, the precise recognition action position and the placement position of the operation and maintenance tools of the robot arm assembly (200); S3, controlling the mechanical arm assembly (200) to move to an initial recognition action position, and further moving to a precise recognition action position under the recognition and guidance of the image acquisition device (340) and the control assembly; S4, identifying the machine through an image acquisition device (340), acquiring characteristic parameters of the machine, and uploading position information to a control module, which obtains Euler angle data of rotation of each degree of freedom component of the mechanical arm component (200) after calculation; S5, based on the Euler angle data, controlling the mechanical arm assembly (200) to move to a corresponding position, using corresponding tools to perform inspection work, and transmitting the inspection result to the trigger condition comparator, which determines whether the machine is in a normal working state; If the machine is in normal working condition, continue to execute S6; If the machine is not in normal working condition, further determine the fault type; S6, after the operation and maintenance of the first machine is completed, the robot arm assembly (200) puts the tool back into the tool box (113), and the robot arm assembly (200) returns to the initial recognition action position; S7, the operation and maintenance robot moves to the next target position and starts the operation and maintenance work of the next machine; S8, repeating steps S2 to S7 until the operation and maintenance of all machines are completed, and the control tool box (113) is closed; S9. Control the operation and maintenance robot to move to the charging station for charging and standby.

9. The operation and maintenance method of the offshore wind power platform machine room according to claim 8, characterized in that: The method in S4 for calculating the rotation Euler angle data of each degree of freedom component of the robot arm component (200) by the control module comprises the following steps: S41, setting the robot coordinate system as the base coordinate system, taking the center of the lower end surface of the chassis of the robot arm assembly (200) as the coordinate origin, the X-axis and the Y-axis are in the plane of the upper end surface of the vehicle body (110), the X-axis is vertically pointing to the tool box (113), the Y-axis is perpendicular to the X-axis, and the Z-axis is vertically upward; S42. Based on the characteristic parameters of the machine, the coordinate information of each component on the surface of the machine is obtained, and the coordinate information of each component is converted to the base coordinate system by the DH parameter method. The conversion method is: Among them, T i i-1 is the conversion relationship between coordinate system [i] and coordinate system [i-1], [i] is the reference system after coordinate conversion, [i-1] is the reference system before coordinate conversion, α i-1 The coordinate system [i-1] needs to be rotated around X i-1 Axis rotation α i-1 Angle, so that Z i-1 Axis and Z i Axis parallel; a i-1 For coordinate system [i-1], it is necessary to follow X i-1 Axis translation a i-1 The length of Z i-1 Axis and Z i Axis collinearity; θ i The coordinate system [i-1] needs to be rotated around Z i-1 Axis rotation θ i Angle so that X i-1 Axis and X i Axis parallel; d i For coordinate system [i-1], it is necessary to follow Z i-1 Axis translation d i The length of X i-1 Axis and X i Axes are collinear; S43, obtaining the transformation homogeneous matrix of the robot arm assembly (200) from the base coordinate system to the end coordinate system in, is the transformation from the base coordinate system to the coordinate system of the second degree of freedom component (220), is the conversion from the coordinate system of the second degree of freedom component (220) to the coordinate system of the third degree of freedom component (230), is the conversion from the coordinate system of the third degree of freedom component (230) to the coordinate system of the fourth degree of freedom component (240), is the conversion from the coordinate system of the fourth degree of freedom component (240) to the coordinate system of the fifth degree of freedom component (250), is the conversion from the coordinate system of the fifth degree of freedom component (250) to the coordinate system of the sixth degree of freedom component (260), is the transformation from the sixth degree of freedom component (260) coordinate system to the end coordinate system, is the rotation relationship from the base coordinate system to the terminal coordinate system, is the position offset from the base coordinate system to the terminal coordinate system; S44, rotate the base coordinate system by angles of γ, β, and α along the X-axis, Y-axis, and Z-axis, respectively, and convert them into a rotation matrix: Among them, γ, β, and α are the Euler angles along the X-axis, Y-axis, and Z-axis of the base coordinate system, respectively. X (γ), R Y (β), R Z (α) is the rotation matrix corresponding to the Euler angles γ, β, and α respectively; S45. Given a rotation matrix, determine the Euler angle: Wherein, R is the overall rotation matrix of the robot arm assembly (200).

10. The operation and maintenance method of an offshore wind power platform machine room according to claim 8, characterized in that: The method of triggering the condition comparator in S5 to determine whether the machine is in a normal working state includes the following steps: S51, preset a sampling value in the trigger condition comparator, adopt a fixed threshold event trigger mechanism, when the sampling deviation exceeds the preset sampling value, trigger the actuator action, and upload the sampling data at the triggering moment to the control component; Fixed threshold event trigger conditions are set as: e(t)=x(t)-x(t k ) t k+1 =inf{t>t k |γ(|e(t)|)≥m1} t k+1 =inf{t>t k |γ(|e(t)|)≥m2} m1>m2 Where e(t) is the error between the sampling value at different sampling time points and the previous sampling value, x(·) is the sampling value, t is the sampling time point, and t k is the sampling time point corresponding to a certain moment, t k+1 is the next sampling time point corresponding to a certain moment, and min{t k+1 -t k }≥0, inf is the infimum of the set, γ(·) is K ∞ function, m1 and m2 are preset sampling values ​​or fixed thresholds, where the trigger condition judgment of m1 precedes the trigger condition judgment of m2; S52, the operation and maintenance robot uses the corresponding tool to detect the machine, and sends the detection result value to the trigger condition comparator, compares it with the preset sampling value in the register and obtains the sampling deviation; When the sampling deviation does not reach the trigger condition, that is, the sampling deviation function value is less than m2, it is determined that the machine is in a normal working state, and the value of the detection result is input into the register to overwrite the preset sampling value in the register, and continue to execute step S6; When the sampling deviation reaches the trigger condition, it includes: a. If the sampling deviation function value is greater than or equal to m2 but less than m1, the machine is judged to have a common fault, the actuator starts to work, controls the mechanical arm assembly (200) to perform maintenance work according to the preset maintenance plan, and sends the value of the detection result to the corresponding station for storage, but no longer inputs it into the register; After the maintenance is completed, S5 is executed again until it is determined that the machine is in normal working condition; b. If the sampling deviation function value is greater than or equal to m1, the machine is judged to have a special fault, and actuator 2 works. At this time, the operation and maintenance robot is remotely controlled by humans to solve the special fault. The value of the detection result is sent to the corresponding site for storage, but is no longer input into the register; After the maintenance is completed, the operation and maintenance robot exits the manual remote control and executes S5 again until it determines that the machine is in normal working condition.

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