CN-121973252-A - Magnetic force driven intelligent micro-robot and driving method thereof

CN121973252ACN 121973252 ACN121973252 ACN 121973252ACN-121973252-A

Abstract

The application discloses a magnetic force driven intelligent micro-motion robot and a driving method thereof, belonging to the technical field of magnetic force driving, and comprising a front frame, wherein a connecting plate is fixedly arranged on the right side of the front frame, a rear frame is fixedly arranged on the right side of the connecting plate, an upper arm is arranged on the left lower side of the connecting plate, a lower arm is hinged and connected on the lower side of the upper arm, a shaking reducing device is arranged on the surface of the rear frame, the sliding block slides to push the first hydraulic rod, the second hydraulic rod and the third hydraulic rod extend outwards under the action of hydraulic pressure to push the mass block to be far away from the violent end of shaking, so that shaking energy is effectively dispersed, the whole of the robot and the violent shaking of the driving arm are reduced, the definition of inspection images and the accuracy of data are ensured, the motion stability of the robot is improved, obstacle crossing failure or mechanical resonance problem caused by overlarge shaking amplitude is avoided, and the service life of equipment is prolonged.

Inventors

LUO HANG
CAO FENGDI

Assignees

成都墨奥生物医药科技有限公司

Dates

Publication Date: 20260505
Application Date: 20260209

Claims (10)

1. The utility model provides a magnetic drive's intelligent micro-motion robot, includes preceding frame, its characterized in that, the right side fixed mounting of preceding frame has the connecting plate, the right side fixed mounting of connecting plate has the back frame, the left side downside of connecting plate is provided with the horn, the downside of going up the horn articulates and links to each other has the horn down, the surface mounting of back frame is equipped with and subtracts shakes the device, it includes sliding block, fixed mounting at the hydraulic storehouse first of back frame surface, sliding mounting at the quality piece of back frame surface, fixed mounting at the mount pad of back frame right side to subtract the shake device, sliding mounting, the left side fixed mounting of sliding block has the spring first, the inside one end piston sliding connection of hydraulic storehouse first has the hydraulic rod, the left side fixed mounting of hydraulic rod has the mounting plate, the left side fixed mounting of mounting plate has the spring second, the left side fixed mounting of spring second has the push pedal, the inside other end piston sliding connection of hydraulic storehouse has the hydraulic rod second, the inside other end piston sliding connection of hydraulic storehouse has the hydraulic rod third, fixed mounting has the telescopic link plate, the top of three fixed mounting of side of hydraulic storehouse, the telescopic link type is installed to the top of the telescopic link.
2. The magnetically driven intelligent micro-robot of claim 1, wherein the fixed plate is slidably connected to the mounting base, the fixed plate is fixedly connected to the mass block, and the push plate is slidably connected to the connecting plate.
3. The magnetically driven intelligent micro-robot of claim 1, wherein the number of mass blocks is four, and the mass blocks are arranged at the center of the rear frame.
4. The magnetically driven intelligent micro-robot of claim 1, wherein the upper and lower arms are provided with magnetic drive coils in cavities, and flexible guide wheels are provided in the cavities.
5. The magnetically driven intelligent micro-robot of claim 1, wherein the surface of the connection plate is equipped with an alarm device for excessive robot shake.
6. The magnetically-driven intelligent micro-motion robot according to claim 5, wherein the alarm device comprises a U-shaped mounting seat fixedly mounted at the top of the connecting plate, a second hydraulic bin is fixedly mounted at the top of the U-shaped mounting seat, a fourth hydraulic rod is slidably connected with a piston at one end of the second hydraulic bin, a fourth spring is fixedly mounted at the left side of the fourth hydraulic rod, a fifth hydraulic rod is slidably connected with a piston at the other end of the second hydraulic bin, a limit rod is fixedly mounted at the left side of the fifth hydraulic rod, a fixing block is fixedly mounted on the surface of the U-shaped mounting seat, a torsion spring is fixedly mounted at the left side of the fixing block, a turning block is fixedly mounted at the left side of the torsion spring, and a turning bell is fixedly mounted at the left side of the turning block.
7. The magnetically driven intelligent micro-robot of claim 6, wherein a groove is arranged on the outer side of the rotating block, and the groove is matched with the limiting rod.
8. The magnetically driven intelligent micro-robot of claim 1, wherein the front frame has a surface equipped with a striking device for double striking the high voltage wire.
9. The magnetically-driven intelligent micro-robot according to claim 8, wherein the knocking device comprises a fixed seat fixedly installed on the surface of the front frame, a rotating shaft rotatably installed on the surface of the upper arm, and an upper cleaning drum rotatably installed on the surface of the upper arm, a motor is arranged at the top of the fixed seat, an output shaft is fixedly installed at the output end of the motor, a hinging block is installed on the right side of the output shaft, a knocking rod is hinged to the bottom of the hinging block, a belt pulley I is installed in the middle of the output shaft, a belt pulley II is installed in the middle of the rotating shaft, the belt pulley I and the belt pulley II are connected through belt transmission, a gear is installed on the right side of the rotating shaft, a connecting block is fixedly installed on the outer side of the upper cleaning drum, and a lower cleaning drum is fixedly installed on the right side of the bottom of the connecting block.
10. The driving method of a magnetically driven intelligent micro-robot according to any one of claims 1 to 9, comprising the steps of: Step one, placing a high-voltage wire into cavities of an upper horn and a lower horn; Step two, starting a driving magnetic driving coil to move on the high-voltage wire; and step three, starting the motor to rotate, driving the knocking rod to rotate, and knocking the high-voltage wire.

Description

Magnetic force driven intelligent micro-robot and driving method thereof Technical Field The invention belongs to the technical field of magnetic force driving, and particularly relates to a magnetic force driving intelligent micro-robot and a driving method thereof. Background The overhead high-voltage transmission line inspection robot becomes a research hotspot in the field of domestic and foreign robots, at present, the inspection robot studied at home and abroad mostly adopts a wheel arm composite structure, the inspection robot walking by means of the wheel arm structure uses frictional force between a travelling wheel and a high-voltage line as driving force, the problems of slipping, low speed, serious abrasion of a transmission wire and the travelling wheel and the like exist, the inspection efficiency of the robot is low, the energy consumption is high, and the wind load resistance is weak. A magnetic-driven intelligent micro-motion robot with an announcement number of CN107234623B and a driving method thereof effectively solve the slipping problem of the existing domestic and foreign wheel arm type inspection robots by utilizing magnetic driving, effectively improve the inspection efficiency, effectively solve the situation that the high-voltage wire sags by multiple splitting under different degrees by arranging a flexible supporting wheel in a magnetic driving arm, but transmit strong wind load to the robot through a wire when encountering strong wind weather, and cause the whole and the driving arm to shake violently. The shake not only causes blurring of inspection images and data distortion, but also obviously reduces the motion stability of the robot, and even causes failure of obstacle surmounting or mechanical resonance caused by overlarge shake amplitude, thereby causing equipment damage. Disclosure of Invention Aiming at the defects of the prior art, the invention provides a magnetically-driven intelligent micro-robot and a driving method thereof, and solves the problems in the prior art. In order to achieve the above purpose, the invention provides a magnetic force driven intelligent micro-motion robot and a driving method thereof, the intelligent micro-motion robot comprises a front frame, a connecting plate is fixedly arranged on the right side of the front frame, a rear frame is fixedly arranged on the right side of the connecting plate, an upper arm is arranged on the left lower side of the connecting plate, a lower arm is hinged and connected to the lower side of the upper arm, a sway reducing device is arranged on the surface of the rear frame, the sway reducing device comprises a sliding block, a first hydraulic bin, a mass block and a mounting seat, the mass block is fixedly arranged on the surface of the rear frame, the mounting seat is fixedly arranged on the right side of the rear frame, the spring is fixedly arranged on the left side of the sliding block, a first hydraulic bin is fixedly connected with a hydraulic rod, a second hydraulic rod is fixedly arranged on the left side of the mounting plate, a push plate is fixedly arranged on the left side of the second hydraulic rod, a second hydraulic rod is fixedly connected with the piston, a third hydraulic rod is fixedly connected with the inner wall of the third hydraulic bin, the third hydraulic rod is fixedly arranged on the top of the third hydraulic bin is fixedly arranged on the top of the third hydraulic rod, and the third telescopic rod is fixedly arranged on the top of the third telescopic rod. Preferably, the fixed plate is in sliding connection with the mounting seat, the fixed plate is in fixed connection with the mass block, and the push plate is in sliding connection with the connecting plate. Preferably, the number of the mass blocks is four, and the mass blocks are arranged at the center position of the rear frame. Preferably, magnetic driving coils are arranged in the cavities of the upper horn and the lower horn, and flexible guide wheels are arranged in the cavities. Preferably, the surface of the connecting plate is provided with an alarm device for excessive shaking of the robot. Preferably, the alarm device comprises a U-shaped mounting seat fixedly mounted at the top of the connecting plate, a second hydraulic bin is fixedly mounted at the top of the U-shaped mounting seat, a fourth hydraulic rod is connected with a piston at one end of the second hydraulic bin in a sliding manner, a fourth spring is fixedly mounted at the left side of the fourth hydraulic rod, a fifth hydraulic rod is connected with a piston at the other end of the second hydraulic bin in a sliding manner, a limit rod is fixedly mounted at the left side of the fifth hydraulic rod, a fixing block is fixedly mounted on the surface of the U-shaped mounting seat, a torsion spring is fixedly mounted at the left side of the fixing block, a turning block is fixedly mounted at the left side of the torsion spring, and a turning bell is fixedly