Intelligent micro-motion robot driven by magnetic force and driving method of intelligent micro-motion robot

Abstract

The invention discloses a magnetically-driven intelligent micro-motion robot and a driving method thereof, and belongs to the technical field of magnetically-driven. The magnetically-driven intelligent micro-motion robot comprises a front rack, a connecting plate is fixedly mounted on the right side of the front rack, a rear rack is fixedly mounted on the right side of the connecting plate, and an upper machine arm is arranged on the lower left side of the connecting plate; according to the robot, in the fierce wind weather, the robot shakes, the sliding blocks slide to push the first hydraulic rods, under the hydraulic action, the second hydraulic rods and the third hydraulic rods extend outwards, the mass block is pushed to be away from the violent shaking end, and the vibration reduction device is arranged on the surface of the rear machine frame, so that the robot shakes, the sliding blocks slide to push the mass block to be away from the fierce shaking end; the shaking energy is effectively dispersed, so that the violent shaking of the whole robot and the driving arm is reduced, the definition of inspection images and the accuracy of data are ensured, the motion stability of the robot is improved, the problem of obstacle crossing failure or mechanical resonance caused by too large shaking amplitude is avoided, and the service life of equipment is prolonged.

Description

Technical Field

[0001] This invention belongs to the field of magnetic drive technology, specifically relating to a magnetically driven intelligent micro-motion robot and its driving method. Background Technology

[0002] Overhead high-voltage transmission line inspection robots have become a research hotspot in the field of robotics both at home and abroad. Currently, most inspection robots researched at home and abroad adopt a wheel-arm composite structure. Inspection robots that rely on the wheel-arm structure to walk use the friction between the walking wheels and the high-voltage lines as the driving force. This results in problems such as slippage, slow speed, and severe wear on the transmission lines and walking wheels. The robot has low inspection efficiency, high energy consumption, and weak wind load resistance.

[0003] The announcement number CN107234623B discloses a magnetically driven intelligent micro-motion robot and its driving method. Existing methods utilize magnetic drive to effectively solve the slippage problem existing in wheel-arm inspection robots both domestically and internationally, significantly improving inspection efficiency. The magnetically driven arm incorporates flexible support wheels to effectively handle situations where multiple components are involved in high-voltage line sag with varying degrees. However, in windy weather, strong wind loads are transmitted to the robot through the wires, causing severe shaking of the entire robot and its drive arm. This shaking not only blurs inspection images and distorts data but also significantly reduces the robot's motion stability. Excessive shaking may even lead to obstacle-crossing failure or mechanical resonance, causing equipment damage. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a magnetically driven intelligent micro-motion robot and its driving method, solving the problems mentioned in the background section.

[0005] To achieve the above objectives, the present invention provides a magnetically driven intelligent micro-motion robot and its driving method, comprising a front frame, a connecting plate fixedly mounted on the right side of the front frame, a rear frame fixedly mounted on the right side of the connecting plate, an upper arm disposed on the lower left side of the connecting plate, a lower arm hinged to the lower side of the upper arm, and a sway-damping device mounted on the surface of the rear frame. The sway-damping device includes a sliding block slidably mounted on the surface of the connecting plate, a hydraulic chamber fixedly mounted on the surface of the rear frame, a mass block slidably mounted on the surface of the rear frame, and a mounting base fixedly mounted on the right side of the rear frame. A spring is fixedly mounted on the left side of the sliding block, and the interior of the hydraulic chamber... A piston at one end is slidably connected to a hydraulic rod 1. A mounting plate is fixedly installed on the left side of the hydraulic rod 1. A spring 2 is fixedly installed on the left side of the mounting plate. A push plate is fixedly installed on the left side of the spring 2. A piston at the other end of the hydraulic chamber 1 is slidably connected to a hydraulic rod 2. A piston at the other end of the hydraulic chamber 1 is slidably connected to a hydraulic rod 3. A telescopic chamber is fixedly installed on the surface of the mounting base. A telescopic rod is slidably installed on the inner wall of the telescopic chamber. A circular connecting plate is fixedly installed on the top of the telescopic rod. A connecting rod is fixedly installed on the left side of the circular connecting plate. A spring 3 is fixedly installed on the top of the circular connecting plate. A fixing plate is fixedly installed on the top of the spring 3.

[0006] Preferably, the fixing plate and the mounting base are slidably connected, the fixing plate and the mass block are fixedly connected, and the push plate and the connecting plate are slidably connected.

[0007] Preferably, the number of mass blocks is set to four, and the mass blocks are located in the center of the rear frame.

[0008] Preferably, magnetic drive coils are provided inside the cavities of the upper and lower arms, and flexible guide wheels are provided inside the cavities.

[0009] Preferably, the surface of the connecting plate is fitted with an alarm device for excessive robot shaking.

[0010] Preferably, the alarm device includes a U-shaped mounting base fixedly installed on the top of the connecting plate. A hydraulic chamber two is fixedly installed on the top of the U-shaped mounting base. A hydraulic rod four is slidably connected to one end of the hydraulic chamber two by a piston. A spring four is fixedly installed on the left side of the hydraulic rod four. A hydraulic rod five is slidably connected to the other end of the hydraulic chamber two by a piston. A limit rod is fixedly installed on the left side of the hydraulic rod five. A fixing block is fixedly installed on the surface of the U-shaped mounting base. A torsion spring is fixedly installed on the left side of the fixing block. A rotating block is fixedly installed on the left side of the torsion spring. A rotating bell is fixedly installed on the left side of the rotating block.

[0011] Preferably, the outer side of the rotating block is provided with a groove, which cooperates with the limiting rod.

[0012] Preferably, the surface of the front frame is fitted with a striking device for double-tapping the high-voltage conductor.

[0013] Preferably, the striking device includes a fixed base fixedly mounted on the surface of the front frame, a rotating shaft rotatably mounted on the surface of the upper arm, and an upper cleaning drum rotatably mounted on the surface of the upper arm. A motor is provided on the top of the fixed base, and an output shaft is fixedly mounted on the output end of the motor. A hinge block is mounted on the right side of the output shaft, and a striking rod is hinged to the bottom of the hinge block. A first pulley is mounted in the middle of the output shaft, and a second pulley is mounted in the middle of the rotating shaft. The first pulley and the second pulley are connected by a belt drive. A gear is mounted on the right side of the rotating shaft. A connecting block is fixedly mounted on the outer side of the upper cleaning drum, and a lower cleaning drum is fixedly mounted on the right side of the bottom of the connecting block.

[0014] A driving method for a magnetically driven intelligent micro-motion robot includes the following steps: Step 1: Place the high-voltage wires into the cavities of the upper and lower arms; Step 2: Start the driving magnetic drive coil to move along the high-voltage conductor; Step 3: Start the motor to rotate, which will drive the striking rod to strike the high-voltage wire.

[0015] The advantages of this application are: (1) In windy weather, the robot shakes and the sliding block slides, pushing the first hydraulic rod. Under the action of hydraulic pressure, the second and third hydraulic rods extend outward, pushing the mass block away from the violently shaking end, effectively dispersing the shaking energy, thereby reducing the violent shaking of the robot as a whole and the drive arm, ensuring the clarity of the inspection image and the accuracy of the data, improving the stability of the robot's movement, avoiding obstacle crossing failure or mechanical resonance problems caused by excessive shaking amplitude, and extending the service life of the equipment.

[0016] (2) In windy weather, the robot shakes and the sliding block slides. The hydraulic rod four extends and retracts, and the hydraulic rod five extends outward, which drives the limit rod to extend outward, releases the limit on the rotating block, and drives the bell to rotate. The bell makes a sound to remind the operator to take appropriate measures to prevent equipment damage or safety accidents caused by excessive shaking, and further enhances the safety and reliability of the robot.

[0017] (3) The motor starts and rotates, which drives the output shaft to rotate, causing the hinge block and the striking rod to swing and strike the high-voltage wire. The rotation of the motor also drives the pulley two to rotate. Under the power transmission, the upper cleaning drum and the lower cleaning drum rotate. The striking rods in the upper cleaning drum and the lower cleaning drum are used to strike the high-voltage wire, realizing the dual striking function of the high-voltage wire. This effectively removes dirt or attachments from the surface of the wire, ensures good contact between the robot and the wire during the inspection process, and improves the accuracy and reliability of the inspection data. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall appearance and structure of the present invention. Figure 1 ; Figure 2 This is a schematic diagram of the overall appearance and structure of the present invention. Figure 2 ; Figure 3 This is a schematic diagram of the anti-shaking device of the present invention. Figure 1 ; Figure 4 This is a schematic diagram of the anti-shaking device of the present invention. Figure 2 ; Figure 5 This is a schematic diagram of the anti-shaking device of the present invention. Figure 3 ; Figure 6 This is a schematic diagram of the alarm device structure of the present invention. Figure 1 ; Figure 7 This is a schematic diagram of the alarm device structure of the present invention. Figure 2 ; Figure 8 This is a schematic diagram of the alarm device structure of the present invention. Figure 3 ; Figure 9 This is a schematic diagram of the striking device structure of the present invention. Figure 1 ; Figure 10 This is a schematic diagram of the striking device structure of the present invention. Figure 2 .

[0019] Explanation of key figure labels: 100. Front frame; 200. Rear frame; 300. Upper arm; 400. Lower arm; 500. Connecting plate; 600. Anti-sway device; 601. Sliding block; 602. Spring 1; 603. Hydraulic chamber 1; 604. Hydraulic rod 1; 605. Hydraulic rod 2; 606. Hydraulic rod 3; 607. Mounting plate; 608. Spring 2; 609. Push plate; 610. Mass block; 611. Mounting base; 612. Telescopic chamber; 613. Telescopic rod; 614. Circular connecting plate; 615. Spring 3; 616. Fixing plate; 617. Connecting rod; 700. Alarm device; 701. U-shaped mounting base; 702. Hydraulic chamber two; 703. Hydraulic rod four; 704. Hydraulic rod five; 705. Spring four; 706. Limiting rod; 707. Fixing block; 708. Torsion spring; 709. Rotating block; 710. Rotating bell; 800. Striking device; 801. Fixed base; 802. Motor; 803. Output shaft; 804. Hinge block; 805. Striking rod; 806. Pulley 1; 807. Pulley 2; 808. Belt; 809. Rotating shaft; 810. Gear; 811. Upper cleaning drum; 812. Lower cleaning drum; 813. Connecting block. Detailed Implementation

[0020] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are merely some, not all, of the embodiments of the present application. All other embodiments obtained by those skilled in the art based on the embodiments of the present application without creative effort should fall within the scope of protection of the present application.

[0021] Example 1, as Figures 1-5This paper illustrates a magnetically driven intelligent micro-motion robot and its driving method. The robot includes a front frame 100 connected to a rear frame 200 via a connecting plate 500, forming a stable H-shaped support structure. The connecting plate 500 is fixedly mounted on the right side of the front frame 100, and the rear frame 200 is also fixedly mounted on the right side of the connecting plate 500. An upper arm 300 is located on the lower left side of the connecting plate 500, and a lower arm 400 is hinged to the lower side of the upper arm 300. Magnetic drive coils are installed within the cavities of the upper arm 300 and the lower arm 400, and flexible guides are provided within the cavities. Wheels reduce the coefficient of friction in the contact wires, ensuring the robot moves smoothly on high-voltage power lines. A sway-damping device 600 is mounted on the surface of the rear frame 200. The sway-damping device 600 includes a sliding block 601 slidably mounted on the surface of the connecting plate 500, a hydraulic chamber 603 fixedly mounted on the surface of the rear frame 200, a mass block 610 slidably mounted on the surface of the rear frame 200, and a mounting base 611 fixedly mounted on the right side of the rear frame 200. Four mass blocks 610 are provided, positioned centrally on the rear frame 200. A spring 602 is fixedly installed on the left side of hydraulic chamber 603. A hydraulic rod 604 is slidably connected to a piston at one end of hydraulic chamber 603. A mounting plate 607 is fixedly installed on the left side of hydraulic rod 604. A spring 608 is fixedly installed on the left side of mounting plate 607. A push plate 609 is fixedly installed on the left side of spring 608. A thick rubber damping layer is provided on the surface of push plate 609. Push plate 609 is slidably connected to connecting plate 500. A hydraulic rod 605 is slidably connected to a piston at the other end of hydraulic chamber 603. A hydraulic rod 606 is slidably connected to the plug. A telescopic chamber 612 is fixedly installed on the surface of the mounting base 611. A telescopic rod 613 is slidably installed on the inner wall of the telescopic chamber 612. A circular connecting plate 614 is fixedly installed on the top of the telescopic rod 613. A connecting rod 617 is fixedly installed on the left side of the circular connecting plate 614. A spring 615 is fixedly installed on the top of the circular connecting plate 614. A fixing plate 616 is fixedly installed on the top of the spring 615. The fixing plate 616 is fixedly connected to the mass block 610 and slidably connected to the mounting base 611.

[0022] In actual use, when the robot shakes due to strong winds, the sliding block 601 slides on the surface of the connecting plate 500, thereby pushing the hydraulic rod 604. Under the hydraulic pressure of the hydraulic chamber 603, the hydraulic rods 605 and 606 extend outward. Since the fixed plate 616 is fixedly connected to the mass block 610 and slidably connected to the mounting base 611, the extension of the hydraulic rod 606 pushes the mass block 610 away from the violently shaking end. When the strong winds stop, the robot stops shaking. Under the elastic action of the springs 602, 608, and 615, the sliding block 601 and the mass block 610 return to their initial positions. This design effectively disperses the shaking energy, reduces the violent shaking of the robot as a whole and the drive arm, ensures the clarity of the inspection images and the accuracy of the data, improves the stability of the robot's movement, avoids obstacle crossing failure or mechanical resonance problems caused by excessive shaking, and extends the service life of the equipment.

[0023] Example 2, as Figures 1-8 This diagram illustrates a magnetically driven intelligent micro-motion robot and its driving method. The surface of a connecting plate 500 is equipped with an alarm device 700 for excessive robot swaying. This device provides real-time warnings for excessive robot swaying. The alarm device 700 includes a U-shaped mounting base 701 fixedly mounted on the top of the connecting plate 500. A hydraulic chamber 702 is fixedly mounted on the top of the U-shaped mounting base 701. A hydraulic rod 703 is slidably connected to one end of the hydraulic chamber 702 via a piston. A spring 705 is fixedly mounted on the left side of the hydraulic rod 703. The piston at the other end of the second 702 is slidably connected to a hydraulic rod 704. A limit rod 706 is fixedly installed on the left side of the hydraulic rod 704. A fixing block 707 is fixedly installed on the surface of the U-shaped mounting base 701. A torsion spring 708 is fixedly installed on the left side of the fixing block 707 to provide power for the rotation of the rotating 709. A rotating block 709 is fixedly installed on the left side of the torsion spring 708. A groove is provided on the outer side of the rotating block 709, which cooperates with the limit rod 706. A bell 710 is fixedly installed on the left side of the rotating block 709. The bell 710 makes a sound when it rotates.

[0024] In practical use, during strong winds, the sliding block 601 will shift along the guide rail, causing the hydraulic rod 703 to extend and retract by squeezing the push plate 609. Under hydraulic transmission, the hydraulic rod 704 extends outward, driving the limit rod 706 to move linearly along the guide sleeve. When the limit rod 706 completely disengages from the limit groove of the rotating block 709, the torsion spring 708, which is in a pre-compressed state, releases its elastic potential energy, driving the rotating block 709 to rotate 360 ​​degrees around the fixed axis. The bell 710 at the end of the rotating block 709 rotates, producing an alarm sound. This multi-level triggering early warning design can buy operators time for emergency response, effectively avoiding equipment damage or safety accidents caused by excessive shaking of the robot in strong winds, further enhancing the safety and reliability of the robot.

[0025] Example 3, as Figures 1-10 This paper illustrates a magnetically driven intelligent micro-motion robot and its driving method. The front frame 100 is equipped with a striking device 800 for double-tapping high-voltage wires. This device achieves a double-tapping cleaning function on the high-voltage wires through mechanical linkage. The striking device 800 includes a fixed base 801 fixedly mounted on the surface of the front frame 100, a rotating shaft 809 rotatably mounted on the surface of the upper arm 300, and an upper cleaning drum 811 rotatably mounted on the surface of the upper arm 300. A motor 802 is mounted on the top of the fixed base 801, which serves as a base support. An output shaft 803 is fixedly mounted on the output end of the motor 802. A hinge block 804 is mounted on the right side of the output shaft 803. A striking rod 805 is hinged to the bottom of the hinge block 804. The bottom of the hinge block 804 is connected to... The striking rod 805 is hinged to achieve reciprocating swing of the striking rod. A pulley 806 is installed in the middle of the output shaft 803, and a pulley 807 is installed in the middle of the rotating shaft 809. The pulley 806 and the pulley 807 are connected by a belt 808. A gear 810 is installed on the right side of the rotating shaft 809. A connecting block 813 is fixedly installed on the outer side of the upper cleaning drum 811. A lower cleaning drum 812 is fixedly installed on the right side of the bottom of the connecting block 813. The upper cleaning drum 811 and the lower cleaning drum 812 are connected by the connecting block to form a clamp-like structure. The inner walls of the upper cleaning drum 811 and the lower cleaning drum 812 are provided with striking rods. The outer sides of the upper cleaning drum 811 and the lower cleaning drum 812 are provided with racks. The racks and the gear 810 mesh with each other.

[0026] In actual use, when the motor 802 starts, the output shaft 803 begins to rotate, causing the output shaft 803 to rotate as well. The rotation of the output shaft 803 causes the hinge block 804 to move in a circular motion. Under the action of centrifugal force, the striking rod 805 produces a periodic oscillating motion, mechanically striking the surface of the high-voltage conductor at high frequency and multiple angles. At the same time, the power output end of the motor 802 also synchronously drives the coaxially mounted pulley 806 to rotate. Through the meshing transmission of the high-strength transmission belt 808, the power is transmitted to the pulley 807, which in turn drives the rotating shaft 809 to rotate synchronously. The rotation of the rotating shaft 809 drives the gear 810 to move. Due to the upper cleaning drum 811 and the lower... The outer circumferential surface of the cleaning drum 812 is machined with a rack structure that matches the gear 810. The rotational motion of the gear 810 is converted into the rolling motion of the cleaning drum through tooth meshing, causing the upper cleaning drum 811 and the lower cleaning drum 812 to rotate. The elastic striking rods evenly distributed inside the drum rotate with the drum to form a wrapping knocking on the high-voltage wire, forming a dual knocking cleaning system. This composite knocking design can significantly improve the removal efficiency of stubborn dirt, oxide layer and attachments on the surface of the wire, ensure that the inspection robot maintains stable electrical contact and mechanical gripping force during the wire walking process, provide a reliable physical basis for high-precision inspection data acquisition, and effectively reduce the risk of data error caused by poor contact.

[0027] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0028] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A magnetically driven intelligent micro-motion robot, comprising a front frame, characterized in that, A connecting plate is fixedly installed on the right side of the front frame, and a rear frame is fixedly installed on the right side of the connecting plate. An upper arm is provided on the lower left side of the connecting plate, and a lower arm is hinged to the lower side of the upper arm. A sway-damping device is mounted on the surface of the rear frame. The sway-damping device includes a sliding block slidably installed on the surface of the connecting plate, a hydraulic chamber I fixedly installed on the surface of the rear frame, a mass block slidably installed on the surface of the rear frame, and a mounting base fixedly installed on the right side of the rear frame. A spring is fixedly installed on the left side of the sliding block. A hydraulic rod is slidably connected to a piston at one end inside the hydraulic chamber I. A mounting plate is fixedly installed on the left side, a second spring is fixedly installed on the left side of the mounting plate, a push plate is fixedly installed on the left side of the second spring, a hydraulic rod is slidably connected to the piston at the other end of the interior of the hydraulic chamber one, a hydraulic rod is slidably connected to the piston at the other end of the interior of the hydraulic chamber one, a telescopic chamber is fixedly installed on the surface of the mounting base, a telescopic rod is slidably installed on the inner wall of the telescopic chamber, a circular connecting plate is fixedly installed on the top of the telescopic rod, a connecting rod is fixedly installed on the left side of the circular connecting plate, a third spring is fixedly installed on the top of the circular connecting plate, and a fixing plate is fixedly installed on the top of the third spring.

2. The magnetically driven intelligent micro-motion robot according to claim 1, characterized in that, The fixing plate and the mounting base are slidably connected, the fixing plate and the mass block are fixedly connected, and the push plate and the connecting plate are slidably connected.

3. The magnetically driven intelligent micro-motion robot according to claim 1, characterized in that, The number of mass blocks is set to four, and the mass blocks are located in the center of the rear frame.

4. The magnetically driven intelligent micro-motion robot according to claim 1, characterized in that, Magnetic drive coils are installed inside the cavities of the upper and lower arms, and flexible guide wheels are installed inside the cavities.

5. The magnetically driven intelligent micro-motion robot according to claim 1, characterized in that, The surface of the connecting plate is equipped with an alarm device for excessive robot shaking.

6. The magnetically driven intelligent micro-motion robot according to claim 5, characterized in that, The alarm device includes a U-shaped mounting base fixedly installed on the top of the connecting plate. A hydraulic chamber two is fixedly installed on the top of the U-shaped mounting base. A hydraulic rod four is slidably connected to one end of the hydraulic chamber two by a piston. A spring four is fixedly installed on the left side of the hydraulic rod four. A hydraulic rod five is slidably connected to the other end of the hydraulic chamber two by a piston. A limit rod is fixedly installed on the left side of the hydraulic rod five. A fixing block is fixedly installed on the surface of the U-shaped mounting base. A torsion spring is fixedly installed on the left side of the fixing block. A rotating block is fixedly installed on the left side of the torsion spring. A rotating bell is fixedly installed on the left side of the rotating block.

7. A magnetically driven intelligent micro-motion robot according to claim 6, characterized in that, The outer side of the rotating block is provided with a groove, which cooperates with the limiting rod.

8. The magnetically driven intelligent micro-motion robot according to claim 1, characterized in that, The surface of the front frame is fitted with a striking device for double-tapping the high-voltage conductor.

9. A magnetically driven intelligent micro-motion robot according to claim 8, characterized in that, The striking device includes a fixed base fixedly mounted on the surface of the front frame, a rotating shaft rotatably mounted on the surface of the upper arm, and an upper cleaning drum rotatably mounted on the surface of the upper arm. A motor is installed on the top of the fixed base, and an output shaft is fixedly mounted on the output end of the motor. A hinge block is mounted on the right side of the output shaft, and a striking rod is hinged to the bottom of the hinge block. A first pulley is mounted in the middle of the output shaft, and a second pulley is mounted in the middle of the rotating shaft. The first pulley and the second pulley are connected by a belt drive. A gear is mounted on the right side of the rotating shaft. A connecting block is fixedly mounted on the outer side of the upper cleaning drum, and a lower cleaning drum is fixedly mounted on the right side of the bottom of the connecting block.

10. A driving method for a magnetically driven intelligent micro-motion robot according to any one of claims 1 to 9, characterized in that, Includes the following steps: Step 1: Place the high-voltage wires into the cavities of the upper and lower arms; Step 2: Start the driving magnetic drive coil to move along the high-voltage conductor; Step 3: Start the motor to rotate, which will drive the striking rod to strike the high-voltage wire.

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