CN111604880B - Guide rail type inspection robot driven by friction and gear and rack and control method - Google Patents
Guide rail type inspection robot driven by friction and gear and rack and control method Download PDFInfo
- Publication number
- CN111604880B CN111604880B CN202010362863.9A CN202010362863A CN111604880B CN 111604880 B CN111604880 B CN 111604880B CN 202010362863 A CN202010362863 A CN 202010362863A CN 111604880 B CN111604880 B CN 111604880B
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- guide rail
- gear
- vehicle body
- transmission gear
- slope
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
- B25J9/1035—Pinion and fixed rack drivers, e.g. for rotating an upper arm support on the robot base
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
Abstract
The invention provides a guide rail type inspection robot driven by friction and a gear rack and a control method, comprising a rail module and an inspection vehicle body module; the track module comprises at least one section of slope track unit and a horizontal friction guide rail; the slope track unit comprises a slope friction guide rail and a rack guide rail; the top end and/or the bottom end of the slope friction guide rail is/are connected with one end of the horizontal friction guide rail; the inspection vehicle body module comprises a vehicle body, a wheel type walking unit and a gear walking unit; when the inspection vehicle body module moves along the slope track unit, the gear driver drives the transmission gear to rotate, and the transmission gear is in meshing transmission with the rack guide rail; the roller moves along the slope friction guide rail for guiding; when the inspection vehicle body module moves along the horizontal friction guide rail, the roller driver drives the roller to rotate, and the roller is in transmission with the horizontal friction guide rail. The friction transmission and the gear rack transmission are matched for use, so that respective defects are eliminated, climbing and slipping are effectively prevented, the operation stability is high, the cost is saved, and the failure rate is reduced.
Description
Technical Field
The invention belongs to the field of inspection robots, and particularly relates to a guide rail type inspection robot driven by friction and a gear rack and a control method.
Background
The belt conveyor is widely applied to the industrial production fields of mines, metallurgy, coal, electric power, ports, cement and the like, and is main equipment for bulk cargo conveying. The length of the conveyor can reach hundreds of meters, even to dozens of kilometers, dozens of to hundreds of conveyors are connected in series, the number of components is large, the distance is long, and fault diagnosis points are numerous. At present, inspection robots are mostly adopted for inspection of belt conveyors, and the inspection robots comprise inspection rails, power structure modules, fault diagnosis modules and the like. The power structure module drives the inspection device to move along the inspection track; and the fault diagnosis module finishes the collection of fault information in the process of following the movement of the inspection device.
The existing inspection robot generally adopts one of the following two transmission schemes: friction type transmission or gear-rack transmission of the travelling wheels and the guide rails. The friction type transmission motion of the travelling wheels and the guide rails is stable, the noise is low, the cost is low, and the phenomenon of skidding is easy to occur when climbing. The gear rack transmission ensures that the automatic inspection device cannot skid when moving up and down, but the cost of laying the racks is higher and the maintenance process is complex.
Disclosure of Invention
In order to solve the problems, the invention provides the guide rail type inspection robot and the control method thereof through friction and gear and rack transmission, wherein the friction transmission and the gear and rack transmission are matched for use, so that the respective defects are eliminated, the climbing and slipping are effectively prevented, the operation stability is high, the cost is saved, and the failure rate is reduced.
The technical scheme is as follows: the invention provides a guide rail type inspection robot driven by friction and a gear rack, which comprises a rail module and an inspection vehicle body module;
the track module comprises at least one section of slope track unit and a horizontal friction guide rail; the slope track unit comprises a slope friction guide rail and a rack guide rail; the rack guide rail is parallel to the slope friction guide rail; the top end and/or the bottom end of the slope friction guide rail is/are connected with one end of the horizontal friction guide rail;
the inspection vehicle body module comprises a vehicle body, a wheel type walking unit and a gear walking unit; the wheel type walking unit comprises a roller and a roller driver; the gear walking unit comprises a transmission gear and a gear driver;
when the inspection vehicle body module moves along the slope track unit, the gear driver drives the transmission gear to rotate, and the transmission gear is meshed with the rack guide rail for transmission, so that the vehicle body moves along the rack guide rail; the roller moves along the slope friction guide rail for guiding;
when the inspection vehicle body module moves along the horizontal friction guide rail, the roller driver drives the roller to rotate, and the roller and the horizontal friction guide rail are in transmission, so that the vehicle body moves along the horizontal friction guide rail.
Furthermore, the rollers are divided into two groups which are arranged along the front and the back; the transmission gear is positioned between the two groups of rollers;
the gear walking unit also comprises a gear lifting mechanism for controlling the lifting of the transmission gear; when the inspection vehicle body module moves along the horizontal friction guide rail, the gear lifting mechanism controls the transmission gear to be located at the upper end initial position; when the inspection vehicle body module moves along the slope track unit, the gear lifting mechanism controls the transmission gear to descend to be meshed with the rack guide rail.
Further, a horizontal friction guide rail is connected to the top of the slope friction guide rail;
when the inspection vehicle body module moves towards the slope rail unit along the horizontal friction guide rail at the top until the front side roller moves to a position close to the joint of the slope friction guide rail and the horizontal friction guide rail at the top, the transmission gear is positioned in the area right above the rack guide rail; turning off the roller driver; the gear lifting mechanism controls the transmission gear to descend until the transmission gear is meshed with the rack guide rail, and the distance between the axis connecting line of the two groups of rollers and the axis of the transmission gear is equal to the distance between the plane of the two slope friction guide rails and the rack guide rail; then the gear drive is started;
when the inspection vehicle body module moves to the horizontal friction guide rail at the top along the slope track unit until the rear side roller moves to the joint of the slope friction guide rail and the horizontal friction guide rail at the top, the transmission gear is meshed with the rack guide rail; at the moment, the gear driver is closed, and the gear lifting mechanism controls the transmission gear to ascend until the transmission gear is separated from the rack guide rail; the roller drive is then turned on.
Further, the bottom of the slope friction guide rail is connected with a horizontal friction guide rail;
when the inspection vehicle body module moves towards the slope track unit along the horizontal friction guide rail at the bottom until the front side roller moves to a position close to the joint of the slope friction guide rail and the horizontal friction guide rail at the bottom, the transmission gear is positioned in a region right above the rack guide rail; turning off the roller driver; the gear lifting mechanism controls the transmission gear to descend until the transmission gear is meshed with the rack guide rail; then the gear driver drives the transmission gear to rotate, the transmission gear is in meshing transmission with the rack guide rail, so that the inspection vehicle body module moves along the rack guide rail until the rear side roller can project to the slope friction guide rail along the direction vertical to the slope friction guide rail, the gear driver is closed, and the gear lifting mechanism controls the transmission gear to lift until the rollers on the front side and the rear side are connected with the slope friction guide rail; the gear drive is then turned on.
Further, the gear lifting mechanism comprises a lead screw, a nut, a lead screw support, a lead screw driving motor, a sliding block and a sliding rail which are fixed on the vehicle body; the lead screw support, the lead screw driving motor and the slide rail are fixed on the vehicle body; the lead screw is arranged on the lead screw support and is vertical to the chassis of the vehicle body; the lead screw driving motor drives the lead screw to rotate; the nut is in threaded connection with the lead screw; the bearing box of the transmission gear is fixed on the nut; but slider and slide rail sliding connection, and slider and drive gear's bearing box fixed connection.
The device further comprises an angle sensor arranged on a rotating shaft of the transmission gear, a proximity switch sensor arranged on the vehicle body, a plurality of positioners arranged on the track module and a main control module;
the angle sensor transmits an angle signal of the gear to the main control module; after the proximity switch sensor detects the positioner, a position signal of the vehicle body relative to the track module is transmitted to the main control module;
when the inspection vehicle body module moves towards the slope rail unit along the horizontal friction guide rail at the top until the front side roller moves to a position close to the connection part of the slope friction guide rail and the horizontal friction guide rail at the top, the main control module controls the roller driver to stop according to the signal of the proximity switch sensor and controls the transmission gear to rotate by a proper angle according to the signal of the angle sensor; then the main control module controls the gear lifting mechanism to enable the transmission gear to descend until one tooth of the transmission gear is meshed with and inserted between two teeth of the rack guide rail, and the distance between the axis of the transmission gear and the axis connecting line of the two groups of rollers is equal to the distance between the plane of the two slope friction guide rails and the rack guide rail; then the main control module controls an output shaft of the gear driver to rotate, and the transmission gear is meshed with the rack guide rail for transmission, so that the vehicle body moves along the rack guide rail;
when the inspection vehicle body module moves to the horizontal friction guide rail at the top along the slope track unit until the rear side roller moves to the joint of the slope friction guide rail and the horizontal friction guide rail at the top, the transmission gear is meshed with the rack guide rail; the main control module controls the roller driver to stop according to a signal of the proximity switch sensor, and then the gear lifting mechanism controls the transmission gear to ascend until the transmission gear is separated from the rack guide rail; the main control module controls an output shaft of the roller driver to rotate, and the roller is in transmission with the horizontal friction guide rail to enable the vehicle body to move along the horizontal friction guide rail;
when the inspection vehicle body module moves towards the slope track unit along the horizontal friction guide rail at the bottom until the front side roller moves to a position close to the joint of the slope friction guide rail and the horizontal friction guide rail at the bottom, the transmission gear is positioned in a region right above the rack guide rail; the main control module controls the roller driver to stop according to the signal of the proximity switch sensor and controls the transmission gear to rotate by a proper angle according to the signal of the angle sensor; then the main control module controls the gear lifting mechanism to enable the transmission gear to descend until one tooth of the transmission gear is meshed with and inserted between two teeth of the rack guide rail; then the gear driver drives the transmission gear to rotate, the transmission gear is in meshing transmission with the rack guide rail, the inspection vehicle body module moves along the rack guide rail until the rear side roller can project to the slope friction guide rail along the direction vertical to the slope friction guide rail, and the main control module controls the gear driver to stop according to the signal of the proximity switch sensor; the main control module controls the gear lifting mechanism to enable the transmission gear to ascend until the rollers on the front side and the rear side are connected with the slope friction guide rail;
when the inspection vehicle body module moves to the horizontal friction guide rail at the bottom along the slope track unit until the front side roller moves to the joint of the slope friction guide rail and the horizontal friction guide rail at the bottom, the main control module controls the output shaft of the roller driver to rotate, and the vehicle body continues to move through roller transmission; and then the main control module controls the gear driver to stop and controls the gear lifting mechanism to enable the transmission gear to ascend to the upper end initial position.
When an inspection vehicle body module moves along a slope track unit, a gear driver drives a transmission gear to rotate, and the transmission gear is meshed with a rack guide rail for transmission, so that a vehicle body moves along the rack guide rail; the roller moves along the slope friction guide rail for guiding;
when the inspection vehicle body module moves along the horizontal friction guide rail, the roller driver drives the roller to rotate, and the roller and the horizontal friction guide rail are in transmission, so that the vehicle body moves along the horizontal friction guide rail.
When the inspection vehicle body module moves towards the slope rail unit along the horizontal friction guide rail at the top until the front side roller moves to a position close to the joint of the slope friction guide rail and the horizontal friction guide rail at the top, the transmission gear is positioned in the area right above the rack guide rail; closing the roller driver at the moment; the gear lifting mechanism controls the transmission gear to descend until the transmission gear is meshed with the rack guide rail, and the distance between the axis of the transmission gear and the axis connecting line of the two groups of rollers is equal to the distance between the plane of the two slope friction guide rails and the rack guide rail; then the gear drive is started;
when the inspection vehicle body module moves to the horizontal friction guide rail at the top along the slope track unit until the rear side roller moves to the joint of the slope friction guide rail and the horizontal friction guide rail at the top, the transmission gear is meshed with the rack guide rail; at the moment, the gear driver is closed, and the gear lifting mechanism controls the transmission gear to ascend until the transmission gear is separated from the rack guide rail; the roller drive is then turned on.
When the inspection vehicle body module moves towards the slope track unit along the horizontal friction guide rail at the bottom until the front side roller moves to a position close to the joint of the slope friction guide rail and the horizontal friction guide rail at the bottom, the transmission gear is positioned in a region right above the rack guide rail; turning off the roller driver; the gear lifting mechanism controls the transmission gear to descend until the transmission gear is meshed with the rack guide rail; then the gear driver drives the transmission gear to rotate, the transmission gear is in meshing transmission with the rack guide rail, so that the inspection vehicle body module moves along the rack guide rail until the rear side roller can project to the slope friction guide rail along the direction vertical to the slope friction guide rail, the gear driver is closed, and the gear lifting mechanism controls the transmission gear to lift until the rollers on the front side and the rear side are connected with the slope friction guide rail; then the gear drive is turned on again;
when the inspection vehicle body module moves to the horizontal friction guide rail at the bottom along the slope track unit until the front side roller moves to the joint of the slope friction guide rail and the horizontal friction guide rail at the bottom, the output shaft of the roller driver is controlled to rotate, and the vehicle body continues to move through the transmission of the roller; and then controlling the gear driver to stop and controlling the gear lifting mechanism to lift the transmission gear to the upper end initial position.
Has the advantages that: firstly, when the inspection vehicle body module moves along the slope track unit, the gear driver drives the transmission gear to rotate, the transmission gear is meshed with the rack guide rail for transmission, so that the vehicle body moves along the rack guide rail, the climbing and slipping are effectively prevented, meanwhile, the roller moves along the slope friction guide rail for guiding, the stability of the gear-rack transmission is improved, and the defects of the gear-rack transmission and the sliding of the slope friction guide rail are eliminated by matching the roller and the rack; when the inspection vehicle body module moves along the horizontal friction guide rail, the roller driver drives the roller to rotate, and the roller and the horizontal friction guide rail are in transmission, so that the vehicle body moves along the horizontal friction guide rail without laying a horizontal rack, the cost is saved, and the failure rate is reduced.
Secondly, when the inspection vehicle body module moves towards the slope track unit along the horizontal friction guide rail at the top until the front side roller moves to a position close to the joint of the slope friction guide rail and the horizontal friction guide rail at the top, the transmission gear is positioned in a region right above the rack guide rail; turning off the roller driver; the gear lifting mechanism controls the transmission gear to descend until the transmission gear is meshed with the rack guide rail, and the distance between the axis of the transmission gear and the axis connecting line of the two groups of rollers is equal to the distance between the slope friction guide rail and the rack guide rail; then the gear drive is started;
when the inspection vehicle body module moves to the horizontal friction guide rail at the top along the slope track unit until the rear side roller moves to the joint of the slope friction guide rail and the horizontal friction guide rail at the top, the transmission gear is meshed with the rack guide rail; at the moment, the gear driver is closed, and the gear lifting mechanism controls the transmission gear to ascend until the transmission gear is separated from the rack guide rail; the roller drive is then turned on.
When the inspection vehicle body module moves towards the slope track unit along the horizontal friction guide rail at the bottom until the front side roller moves to a position close to the joint of the slope friction guide rail and the horizontal friction guide rail at the bottom, the transmission gear is positioned in a region right above the rack guide rail; turning off the roller driver; the gear lifting mechanism controls the transmission gear to descend until the transmission gear is meshed with the rack guide rail; then the gear driver drives the transmission gear to rotate, the transmission gear is in meshing transmission with the rack guide rail, so that the inspection vehicle body module moves along the rack guide rail until the rear side roller can project to the slope friction guide rail along the direction vertical to the slope friction guide rail, the gear driver is closed, and the gear lifting mechanism controls the transmission gear to lift until the rollers on the front side and the rear side are connected with the slope friction guide rail; then the gear drive is turned on again;
by the structure, when the inspection vehicle body module moves towards the slope track unit along the horizontal friction guide rail, the front side roller enters the slope track unit, and the driving mode of the inspection vehicle body module is switched to gear and rack transmission; the front side roller entering the slope track unit is prevented from slipping due to the fact that roller friction transmission is still adopted after the front side roller enters the slope track unit;
meanwhile, when the inspection vehicle body module moves to the horizontal friction guide rail at the top along the slope track unit, the driving mode of the inspection vehicle body module is switched to roller friction transmission after the front side roller and the rear side roller enter the horizontal friction guide rail; the rear side roller is prevented from being switched to roller friction transmission before the rear side roller enters the horizontal friction guide rail, and the rear side roller located on the slope track unit is prevented from slipping.
And thirdly, the gear lifting mechanism, the angle sensor arranged on the rotating shaft of the transmission gear, the proximity switch sensor arranged on the vehicle body and the plurality of positioners arranged on the track module are used for accurately positioning and controlling the meshing and the separation of the gear and the rack.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a front view of the inspection vehicle body module moving along a horizontal friction guide rail at the top to the slope track unit;
FIG. 3 is an isometric view of the inspection vehicle body module moving along a horizontal friction guide rail at the top to a slope track unit;
FIG. 4 is a front view of the inspection vehicle body module moving along the horizontal friction guide rail of the slope track unit to the top;
FIG. 5 is an isometric view of the inspection vehicle body module moving along the slope track unit to the top horizontal friction guide rail;
FIG. 6 is a front view of the inspection vehicle body module moving along a horizontal friction guide rail at the bottom to the slope track unit;
FIG. 7 is an axonometric view of the inspection vehicle body module in a state of moving to the slope track unit along a horizontal friction guide rail at the bottom;
FIG. 8 is a front view of the gear lift mechanism;
fig. 9 is a plan view of the gear elevating mechanism.
Detailed Description
As shown in fig. 1, the invention provides a guide rail type inspection robot driven by friction and gear and rack, which comprises a rail module and an inspection vehicle body module.
The track module comprises at least one section of slope track unit and two horizontal friction guide rails 103; the ramp track unit includes a ramp friction guide 101 and a rack guide 102; the rack guide rail 102 is parallel to the ramp friction guide rail 101; one end of a horizontal friction guide rail 103 is connected to the top end of the slope friction guide rail 101; one end of another horizontal friction guide 103 is connected to the bottom end of the inclined friction guide 101.
The inspection vehicle body module comprises a vehicle body 2, a wheel type walking unit 3 and a gear walking unit 4; the wheel type walking unit 3 comprises a roller 301 and a roller driver; the gear walking unit 4 comprises a transmission gear 401, a gear driver 402 and a gear lifting mechanism; the rollers 301 are arranged in two groups along the front and back; the transmission gear 401 is located between the two sets of rollers 301.
The gear lifting mechanism is used for controlling the lifting of the transmission gear 401. As shown in fig. 8 and 9, the gear lifting mechanism includes a screw 403, a nut 404, a screw support 405, a screw driving motor 406, a slider 407, and a slide rail 408 fixed to the vehicle body 2; the lead screw support 405, the lead screw driving motor 406 and the slide rail 408 are fixed on the vehicle body 2; the lead screw 403 is arranged on the lead screw support 405 and is vertical to the chassis of the vehicle body 2; the lead screw driving motor 406 drives the lead screw 403 to rotate; the nut 404 is in threaded connection with the lead screw 403; the bearing seat 409 of the transmission gear 401 is fixed on the nut 404; the sliding block 407 is slidably connected with the sliding rail 408, and the sliding block 407 is fixedly connected with a bearing seat 409 of the transmission gear 401.
The invention also comprises an angle sensor 501 arranged on the rotating shaft of the transmission gear 401, a proximity switch sensor 502 arranged on the vehicle body 2, a plurality of positioners 503 arranged on the track module and a main control module 504; the angle sensor 501 transmits an angle signal of the gear to the main control module 504; after the proximity switch sensor 502 detects the locator 503, a position signal of the vehicle body 2 relative to the track module is transmitted to the main control module 504.
The motion state of the patrol inspection vehicle body module on the track module comprises the steps of moving the patrol inspection vehicle body module along the slope track unit, moving the patrol inspection vehicle body module along the horizontal friction guide rail 103 and converting the patrol inspection vehicle body module between the horizontal friction guide rail 103 and the slope track unit.
When the inspection vehicle body module moves along the slope track unit, the gear driver 402 drives the transmission gear 401 to rotate, and the transmission gear 401 is in meshing transmission with the rack guide rail 102, so that the vehicle body 2 moves along the rack guide rail 102; the roller 301 moves along the inclined friction guide 101 for guiding.
When the inspection vehicle body module moves along the horizontal friction guide rail 103, the roller driver drives the roller 301 to rotate, and the roller 301 and the horizontal friction guide rail 103 are in transmission, so that the vehicle body 2 moves along the horizontal friction guide rail 103.
The switching process of the inspection vehicle body module between the horizontal friction guide rail 103 and the slope track unit can be divided into the following conditions:
as shown in fig. 2 and 3, when the inspection vehicle body module moves towards the slope track unit along the horizontal friction guide rail 103 at the top until the front side roller 301 moves to a position close to the connection between the slope friction guide rail 101 and the horizontal friction guide rail 103 at the top, the main control module 504 controls the roller driver to stop according to a signal of the proximity switch sensor 502, and controls the transmission gear 401 to rotate by a proper angle according to a signal of the angle sensor 501;
the reading starting point of the angle sensor 501 is fixed and corresponds to the starting tooth of the transmission gear 401; the angle sensor 501 can measure the angle of the initial tooth in real time, the angle corresponding to each tooth of the transmission gear 401 is obtained through calculation, and the minimum angle required to rotate can be calculated by knowing the slope of an ascending slope, so that one tooth of the transmission gear 401 is perpendicular to the rack guide rail 102;
then the main control module 504 controls the gear lifting mechanism to enable the transmission gear 401 to descend until one tooth of the transmission gear 401 is meshed and inserted between two teeth of the rack guide rail 102;
when the transmission gear 401 continues to descend, the front side roller 301 or the rear side roller 301 tilts; in the embodiment, the gravity center of the vehicle body is positioned between the transmission gear 401 and the rear side roller 301, so that the front side roller 301 tilts up; when the distance between the axis of the transmission gear 401 and the connecting line of the axes of the two groups of rollers 301 is equal to the distance between the plane of the two slope friction guide rails 101 and the rack guide rail 102, the gear lifting mechanism stops;
then the main control module 504 controls the output shaft of the gear driver 402 to rotate, the transmission gear 401 is in meshing transmission with the rack guide rail 102, so that the vehicle body 2 moves along the rack guide rail 102, and the rear side roller 301 moves along the horizontal friction guide rail 103 for guiding; when the rear roller 301 moves to the connection between the slope friction guide rail 101 and the top horizontal friction guide rail 103, the distance between the axis of the transmission gear 401 and the axis connecting line of the two sets of rollers 301 is equal to the distance between the slope friction guide rail 101 and the rack guide rail 102, so that the front roller 301 can just fall to the slope friction guide rail 101, and the front roller 301 and the rear roller 301 move along the slope friction guide rail 101 together for guiding.
Secondly, as shown in fig. 4 and 5, when the inspection vehicle body module moves to the top horizontal friction guide rail 103 along the slope track unit until the rear side roller 301 moves to the joint of the slope friction guide rail 101 and the top horizontal friction guide rail 103, the transmission gear 401 is meshed with the rack guide rail 102, and at this time, the front side roller 301 tilts; the main control module 504 controls the roller driver to stop according to the signal of the proximity switch sensor 502, and then the gear lifting mechanism controls the transmission gear 401 to ascend until the transmission gear 401 is separated from the rack guide rail 102, and the front roller 301 falls onto the horizontal friction guide rail 103; the main control module 504 controls the output shaft of the roller driver to rotate, and the roller 301 is in transmission with the horizontal friction guide rail 103, so that the vehicle body 2 moves along the horizontal friction guide rail 103;
thirdly, as shown in fig. 6 and 7, when the inspection vehicle body module moves towards the slope rail unit along the horizontal friction guide rail 103 at the bottom until the front side roller 301 moves to a position close to the connection between the slope friction guide rail 101 and the horizontal friction guide rail 103 at the bottom, the transmission gear 401 is located in the area right above the rack guide rail 102; the main control module 504 controls the roller driver to stop according to the signal of the proximity switch sensor 502, and controls the transmission gear 401 to rotate by a proper angle according to the signal of the angle sensor 501; then the main control module 504 controls the gear lifting mechanism to enable the transmission gear 401 to descend until one tooth of the transmission gear 401 is meshed and inserted between two teeth of the rack guide rail 102; then, the gear driver 402 drives the transmission gear 401 to rotate, and the transmission gear 401 is in meshing transmission with the rack guide rail 102, so that the inspection vehicle body module moves along the rack guide rail 102;
in the motion process of the stage, the front side roller 301 gradually tilts and is separated from the horizontal friction guide rail 103 and the slope friction guide rail 101; until the rear side roller 301 can be projected to the slope friction guide rail 101 along the direction perpendicular to the slope friction guide rail 101, the main control module 504 controls the gear driver 402 to stop according to the signal of the proximity switch sensor 502; the main control module 504 controls the gear lifting mechanism to lift the transmission gear 401 until the rollers 301 at the front side and the rear side are connected with the slope friction guide rail 101 for guiding.
Fourthly, when the inspection vehicle body module moves towards the bottom horizontal friction guide rail 103 along the slope track unit until the front side roller 301 moves to the joint of the slope friction guide rail 101 and the bottom horizontal friction guide rail 103, the main control module 504 controls the output shaft of the roller driver to rotate, and the vehicle body 2 continues to move through the transmission of the roller 301;
after the front side roller 301 moves to the horizontal friction guide rail 103, the transmission gear 401 can be separated from the rack guide rail 102 by itself; then the main control module 504 controls the gear driver 402 to stop and controls the gear lifting mechanism to lift the transmission gear 401 to the upper end initial position to prepare for the next ascending or descending.
Claims (2)
1. The utility model provides a control method of guide tracked inspection robot which characterized in that: the control method comprises the steps that a guide rail type inspection robot is driven by friction and a gear rack, and the guide rail type inspection robot comprises a rail module and an inspection vehicle body module;
the track module comprises at least one section of slope track unit and a horizontal friction guide rail (103); the slope track unit comprises a slope friction guide rail (101) and a rack guide rail (102); the rack guide rail (102) is parallel to the slope friction guide rail (101); the top end and/or the bottom end of the slope friction guide rail (101) is/are connected with one end of the horizontal friction guide rail (103);
the inspection vehicle body module comprises a vehicle body (2), a wheel type walking unit (3) and a gear walking unit (4); the wheel type walking unit (3) comprises a roller (301) and a roller driver; the gear walking unit (4) comprises a transmission gear (401) and a gear driver (402);
when the inspection vehicle body module moves along the slope track unit, the gear driver (402) drives the transmission gear (401) to rotate, and the transmission gear (401) is meshed with the rack guide rail (102) for transmission, so that the vehicle body (2) moves along the rack guide rail (102); the roller (301) moves along the slope friction guide rail (101) for guiding;
when the inspection vehicle body module moves along the horizontal friction guide rail (103), the roller driver drives the roller (301) to rotate, and the roller (301) is in transmission with the horizontal friction guide rail (103) to enable the vehicle body (2) to move along the horizontal friction guide rail (103);
the rollers (301) are divided into two groups and arranged along the front and the back; the transmission gear (401) is positioned between the two groups of rollers (301);
the gear walking unit (4) further comprises a gear lifting mechanism for controlling the lifting of the transmission gear (401); the gear lifting mechanism comprises a lead screw (403), a nut (404), a lead screw support (405), a lead screw driving motor (406), a sliding block (407) and a sliding rail (408) which are fixed on the vehicle body (2); the screw support (405), the screw driving motor (406) and the slide rail (408) are fixed on the vehicle body (2); the lead screw (403) is arranged on the lead screw support (405) and is vertical to a chassis of the vehicle body (2); the lead screw driving motor (406) drives the lead screw (403) to rotate; the nut (404) is in threaded connection with the lead screw (403);
when the inspection vehicle body module moves along the horizontal friction guide rail (103), the gear lifting mechanism controls the transmission gear (401) to be located at the upper end initial position; when the inspection vehicle body module moves along the slope track unit, the gear lifting mechanism controls the transmission gear (401) to descend to be meshed with the rack guide rail (102);
the device also comprises an angle sensor (501) arranged on a rotating shaft of the transmission gear (401), a proximity switch sensor (502) arranged on the vehicle body (2), a plurality of positioners (503) arranged on the track module and a main control module (504);
the angle sensor (501) transmits an angle signal of the transmission gear (401) to the main control module (504); after the proximity switch sensor (502) detects the locator (503), the position signal of the vehicle body (2) relative to the track module is transmitted to the main control module (504);
when the inspection vehicle body module moves towards the slope track unit along the horizontal friction guide rail (103) at the top until the front side roller (301) moves to a position close to the connection part of the slope friction guide rail (101) and the horizontal friction guide rail (103) at the top, the main control module (504) controls the roller driver to stop according to the signal of the proximity switch sensor (502), and controls the transmission gear (401) to rotate at a proper angle according to the signal of the angle sensor (501); then the main control module (504) controls the gear lifting mechanism to enable the transmission gear (401) to descend until one tooth of the transmission gear (401) is meshed with and inserted between two teeth of the rack guide rail (102); then the main control module (504) controls an output shaft of the gear driver (402) to rotate, and the transmission gear (401) is in meshed transmission with the rack guide rail (102) to enable the vehicle body (2) to move along the rack guide rail (102);
when the inspection vehicle body module moves to the horizontal friction guide rail (103) at the top along the slope track unit until the rear side roller (301) moves to the joint of the slope friction guide rail (101) and the horizontal friction guide rail (103) at the top, the transmission gear (401) is kept meshed with the rack guide rail (102); the main control module (504) controls the roller driver to stop according to a signal of the proximity switch sensor (502), and then the gear lifting mechanism controls the transmission gear (401) to ascend until the transmission gear (401) is separated from the rack guide rail (102); the main control module (504) controls an output shaft of the roller driver to rotate, and the roller (301) is in transmission with the horizontal friction guide rail (103) to enable the vehicle body (2) to move along the horizontal friction guide rail (103);
when the inspection vehicle body module moves towards the slope rail unit along the horizontal friction guide rail (103) at the bottom until the front side roller (301) moves to a position close to the connection of the slope friction guide rail (101) and the horizontal friction guide rail (103) at the bottom, the transmission gear (401) is located in the area right above the rack guide rail (102); the main control module (504) controls the roller driver to stop according to the signal of the proximity switch sensor (502), and controls the transmission gear (401) to rotate at a proper angle according to the signal of the angle sensor (501); then the main control module (504) controls the gear lifting mechanism to enable the transmission gear (401) to descend until one tooth of the transmission gear (401) is meshed with and inserted between two teeth of the rack guide rail (102); then a gear driver (402) drives a transmission gear (401) to rotate, the transmission gear (401) is in meshing transmission with a rack guide rail (102), an inspection vehicle body module is enabled to move along the rack guide rail (102) until a rear side roller (301) can be projected to the slope friction guide rail (101) along a direction perpendicular to the slope friction guide rail (101), and a main control module (504) controls the gear driver (402) to stop according to a signal of a proximity switch sensor (502); the main control module (504) controls the gear lifting mechanism to enable the transmission gear (401) to ascend until the rollers (301) on the front side and the rear side are connected with the slope friction guide rail (101);
when the inspection vehicle body module moves to the horizontal friction guide rail (103) at the bottom along the slope track unit until the front side roller (301) moves to the connection part of the slope friction guide rail (101) and the horizontal friction guide rail (103) at the bottom, the main control module (504) controls the output shaft of the roller driver to rotate, and the vehicle body (2) continues to move through the transmission of the roller (301); and then the main control module (504) controls the gear driver (402) to stop and controls the gear lifting mechanism to enable the transmission gear (401) to ascend to the upper end initial position.
2. The control method of the guide rail type inspection robot according to claim 1, characterized in that: a bearing seat (409) of the transmission gear (401) is fixed on a nut (404); the sliding block (407) is connected with the sliding rail (408) in a sliding mode, and the sliding block (407) is fixedly connected with a bearing seat (409) of the transmission gear (401).
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| CN202010362863.9A CN111604880B (en) | 2020-04-30 | 2020-04-30 | Guide rail type inspection robot driven by friction and gear and rack and control method |
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| CN111604880B true CN111604880B (en) | 2022-08-09 |
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| CN112252093B (en) * | 2020-09-25 | 2022-05-17 | 国网福建省电力有限公司 | Special track for construction and transportation of power transmission line and construction method thereof |
| CN114161451B (en) * | 2022-02-10 | 2022-04-15 | 湖南阳光电力科技有限公司 | Intelligent inspection robot |
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