CN114012697A - Positioning mechanism of track type inspection robot - Google Patents
Positioning mechanism of track type inspection robot Download PDFInfo
- Publication number
- CN114012697A CN114012697A CN202111210812.5A CN202111210812A CN114012697A CN 114012697 A CN114012697 A CN 114012697A CN 202111210812 A CN202111210812 A CN 202111210812A CN 114012697 A CN114012697 A CN 114012697A
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- track
- rail
- inspection robot
- sliding contact
- positioning mechanism
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- 230000007246 mechanism Effects 0.000 title claims abstract description 80
- 238000007689 inspection Methods 0.000 title claims abstract description 54
- 238000001514 detection method Methods 0.000 claims abstract description 15
- 230000008859 change Effects 0.000 claims abstract description 8
- 230000003028 elevating effect Effects 0.000 claims abstract description 8
- 239000000725 suspension Substances 0.000 claims description 7
- 238000000034 method Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000003245 coal Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
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Classifications
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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
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The disclosure relates to a positioning mechanism of a rail type inspection robot, comprising a rail; a rail support frame configured to fix the rail in a suspended support; positioning element, it includes control part, current detection unit and a sliding contact varistor strip, running gear one side is provided with an elevating system, elevating system one end with running gear connects, and the other end is provided with the mount table of being convenient for carry inspection device, sliding contact varistor strip set up in one side of track support frame and with track support frame is isometric, elevating system configures into running gear follows during the orbital motion, with track support frame's side sliding contact and with sliding contact varistor strip constitutes the return circuit. The positioning mechanism of the rail type inspection robot provided by the invention can accurately detect the specific position of the running mechanism and the carried operation part on the rail according to the current change through the sliding contact rheostat strip based on the sliding rheostat principle.
Description
Technical Field
The invention relates to the field of rail type inspection robots, in particular to a positioning mechanism of a rail type inspection robot.
Background
At present, inspection robots are gradually adopted to replace manual work for scenes needing inspection operation. The inspection robot is generally an orbit robot, and can greatly relieve the working pressure of inspection operation in related industries such as electric power industry, coal mine industry and the like. When the existing inspection robot executes inspection operation, an inspection target is usually preset, an inspection route is made, and an inspection task is set. When the inspection robot inspects the target according to the preset inspection target and the preset inspection route, the inspection robot needs to stop to perform image acquisition, audio acquisition or data acquisition of other detection items when reaching the specified inspection target position, and then reaches the next inspection target position according to the inspection route. This process requires a relatively accurate positioning of the inspection robot on the track. The current positioning mode of the inspection robot mainly comprises a measuring technology by using a built-in code table or positioning by using an RFID label. However, the inventors have found that in the first mode, there are relatively high requirements for the encoder and environmental conditions, and that the accumulated error becomes large as the wear increases during operation. In the second method, there is a problem in positioning accuracy due to the time delay problem when the distance is large in the rf tag sensing method.
It can be seen that the prior art still has certain drawbacks and needs to be improved.
Disclosure of Invention
In view of the above problems in the prior art, an object of the present invention is to provide a positioning mechanism for a rail-type inspection robot with higher positioning accuracy.
In order to achieve the above objects, an aspect of the present invention provides a positioning mechanism of a rail type inspection robot, including,
the inspection robot comprises a track, a first driving device and a second driving device, wherein the track is used for enabling an inspection robot to travel along a preset path and at least comprises a traveling mechanism matched with the track;
a rail support frame configured to fix the rail in a suspended support;
a positioning component which comprises a control part, a current detection unit and a sliding contact resistance-changing strip, wherein one side of the walking mechanism is provided with a lifting mechanism, one end of the lifting mechanism is connected with the walking mechanism, the other end is provided with a mounting platform which is convenient for mounting the inspection device, the sliding contact resistance-changing strip is arranged on one side of the track supporting frame and is as long as the track supporting frame, the lifting mechanism is configured to move along the track when the moving mechanism moves along the track, the sliding contact part is in sliding contact with the side edge of the track support frame and forms a loop with the sliding contact variable resistance strip, the control part is electrically connected with the current detection unit, and the current detection unit is configured to detect a current change value accessed to the loop, and the control part is configured to judge the contact position of the lifting mechanism on the sliding contact rheostat strip according to the current change value so as to determine the position of the lifting mechanism on the track.
Preferably, the sliding varistor strips are provided with a plurality of conductive points at equal intervals, and each of the conductive points has a different resistance value corresponding to a circuit formed when the conductive point comes into contact with the elevating mechanism.
Preferably, the rail supporting frame comprises a plurality of upright columns which are arranged in an opposite mode and a cross beam which is hung at the free ends of the upright columns, and the rail and the traveling mechanism are arranged on the cross beam.
Preferably, the rail is arranged on the top surface of the cross beam, the traveling mechanism comprises a slider in sliding connection with the rail and a base connected with the slider, a rack is arranged below the base and on one side of the rail and has the same length as the rail, a first motor is arranged on the base, and a gear meshed with the rack is arranged at the output end of the first motor.
Preferably, there are two of the rail pairs, and correspondingly there are two of the sliders, and the rack is disposed between the two rails.
Preferably, the lifting mechanism comprises a screw-nut mechanism and a second motor connected with the screw-nut mechanism, and the mounting table is connected with the screw-nut mechanism in a height-adjustable manner.
Preferably, the mounting table is connected to the screw nut mechanism through a horizontal cylinder.
Preferably, the mounting table includes a suspension connected to the horizontal cylinder and a catch provided on the suspension.
The positioning mechanism of the rail type inspection robot provided by the invention can accurately detect the specific position of the running mechanism and the carried operation part on the rail according to the current change through the sliding contact rheostat strip based on the sliding rheostat principle. Compared with the prior art, the positioning is accurate and is not influenced by distance.
Drawings
Fig. 1 is a schematic structural view (including a partially enlarged view) of a positioning mechanism of the rail type inspection robot of the present invention.
FIG. 2 is a schematic perspective view of the positioning mechanism of the rail-type inspection robot according to the present invention (with a hidden part and a partial enlargement)
Fig. 3 is a schematic view of the positioning principle of the positioning mechanism of the rail type inspection robot of the present invention.
Fig. 4 is a schematic structural diagram of a loop formed by the lifting mechanism and the sliding contact resistance strip of the positioning mechanism of the rail type inspection robot.
The main reference numbers:
1-a track support frame, 2-a track, 3-a first motor, 4-a walking mechanism, 5-a lifting mechanism, 6-an installation table and 7-a horizontal cylinder; 8-sliding contact rheostatic strip, 11-beam, 12-column; 41-a rack; 42-a slide block; 43-a base; 45-gear; 51-a second motor; 52-lead screw nut mechanism; 61-a suspension; 62-clamping table; 81-conductive dots.
Detailed Description
In order to make the technical solutions of the present invention better understood, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
Various aspects and features of the present invention are described herein with reference to the drawings.
These and other characteristics of the invention will become apparent from the following description of a preferred form of embodiment, given as a non-limiting example, with reference to the accompanying drawings.
It should also be understood that, although the invention has been described with reference to some specific examples, a person of skill in the art shall certainly be able to achieve many other equivalent forms of the invention, having the characteristics as set forth in the claims and hence all coming within the field of protection defined thereby.
The above and other aspects, features and advantages of the present invention will become more apparent in view of the following detailed description when taken in conjunction with the accompanying drawings.
As shown in fig. 1 and 4, a positioning mechanism of a rail type inspection robot according to an embodiment of the present invention includes a rail 2 configured to allow an inspection robot (not shown) to travel along a predetermined path, the inspection robot having at least one traveling mechanism 4 engaged with the rail 2; a rail support frame 1 configured to fix the rail 2 in a suspended support; the positioning assembly comprises a control part, a current detection unit and a sliding contact variable resistance strip, the control part can be a single chip microcomputer or an embedded development board, such as an Ardinuo development board, and the current detection unit can be a current detection chip or a current detection sensor, such as an Allegro current sensor. One side of the travelling mechanism 4 is provided with a lifting mechanism 5, one end of the lifting mechanism 5 is connected with the travelling mechanism 4, the other end is provided with an installation platform 6 which is convenient for mounting an inspection device (not shown), such as an explosion-proof camera, the sliding contact resistance-changing strip 8 is arranged at one side of the track supporting frame 1 and is as long as the track supporting frame 1, the lifting mechanism 5 is configured to be capable of moving along the track 2 when the traveling mechanism 4 travels along the track, a loop is formed by the sliding contact with the side edge of the track support frame 1 and the sliding contact variable resistance strip 8, the control part is electrically connected with the current detection unit, and the current detection unit is configured to detect a current change value of the circuit, and the control part is configured to determine a contact position of the lifting mechanism 5 on the sliding contact rheostat strip 8 according to the current change value, so as to determine the position of the lifting mechanism 5 on the track 2.
Specifically, in the above embodiment, the plurality of conductive points 81 are provided at equal intervals on the sliding varistor strip 8, and each of the conductive points 81 has a different resistance value corresponding to a circuit formed when contacting the elevating mechanism 5. In this way, when the traveling mechanism 4 drives the lifting mechanism 5 and the inspection device mounted thereon to perform inspection, the current variation value fed back by the current detection unit corresponds to the position variation along with the position difference on the track 2, so as to obtain accurate positioning.
As described above, in the present invention, the rail support frame 1 is fixed to the rail 2 in a suspended manner, but it is understood that it may be realized in a ground-supported manner. Specifically, the track support frame 1 includes a plurality of upright columns 12 and a cross beam 11 suspended at free ends of the upright columns 12, and the track 2 and the traveling mechanism 4 are disposed on the cross beam 11.
In the present invention, in the rail type inspection robot fixed in a suspended manner, it is preferable that the rail 2 is provided on the top surface of the beam 11, the traveling mechanism 4 includes a slider 42 slidably connected to the rail 2 and a base 43 connected to the slider 42, a rack 41 is provided below the base 43 and on one side of the rail 2 and as long as the rail 2, the base 43 is provided with the first motor 3, and the output end of the first motor 3 is provided with a gear 45 engaged with the rack 41. As further preferred, as shown in fig. 2 and 3, two pairs of the rails 2 are provided, and correspondingly, two pairs of the sliders 42 are provided, and the rack 41 is provided between the two rails 42.
The elevating mechanism 5 is used for adjusting the height of the mounting table and the inspection device mounted thereon in the vertical direction, and may include a screw-nut mechanism 52 and a second motor 51 connected to the screw-nut mechanism 52, and the mounting table 6 may be connected to the screw-nut mechanism 52 so as to be adjustable in height. As shown in fig. 2 and 3, the mounting table 6 is connected to the lead screw-nut mechanism 52 through a horizontal cylinder 7. The mount table 6 includes a suspension 61 connected to the horizontal cylinder 7 and a chuck table 62 provided on the suspension 61.
The above embodiments are only exemplary embodiments of the present invention, and are not intended to limit the present invention, and the scope of the present invention is defined by the claims. Various modifications and equivalents may be made by those skilled in the art within the spirit and scope of the present invention, and such modifications and equivalents should also be considered as falling within the scope of the present invention.
Claims (8)
1. A positioning mechanism of a track type inspection robot comprises,
the inspection robot comprises a track, a first driving device and a second driving device, wherein the track is used for enabling an inspection robot to travel along a preset path and at least comprises a traveling mechanism matched with the track;
a rail support frame configured to fix the rail in a suspended support;
a positioning component which comprises a control part, a current detection unit and a sliding contact resistance-changing strip, wherein one side of the walking mechanism is provided with a lifting mechanism, one end of the lifting mechanism is connected with the walking mechanism, the other end is provided with a mounting platform which is convenient for mounting the inspection device, the sliding contact resistance-changing strip is arranged on one side of the track supporting frame and is as long as the track supporting frame, the lifting mechanism is configured to move along the track when the moving mechanism moves along the track, the sliding contact part is in sliding contact with the side edge of the track support frame and forms a loop with the sliding contact variable resistance strip, the control part is electrically connected with the current detection unit, and the current detection unit is configured to detect a current change value accessed to the loop, and the control part is configured to judge the contact position of the lifting mechanism on the sliding contact rheostat strip according to the current change value so as to determine the position of the lifting mechanism on the track.
2. The positioning mechanism for the track type inspection robot according to claim 1, wherein the sliding varistor strips are provided with a plurality of conductive points at equal intervals, and each conductive point has a different resistance value corresponding to a loop formed when contacting the elevating mechanism.
3. The positioning mechanism for the rail-type inspection robot according to claim 1, wherein the rail support frame includes a plurality of upright posts arranged in opposite relationship and a beam suspended from free ends of the upright posts, and the rail and the traveling mechanism are disposed on the beam.
4. The positioning mechanism for the track-type inspection robot according to claim 3, wherein the track is arranged on the top surface of the beam, the traveling mechanism includes a slider slidably connected with the track and a base connected with the slider, a rack is arranged below the base and on one side of the track, the rack has the same length as the track, a first motor is arranged on the base, and a gear meshed with the rack is arranged at the output end of the first motor.
5. The positioning mechanism for the rail-based inspection robot according to claim 4, wherein there are two rail pairs and correspondingly two sliders, and the rack is disposed between the two rails.
6. The positioning mechanism for the track type inspection robot according to claim 1, wherein the elevating mechanism includes a lead screw and nut mechanism and a second motor connected to the lead screw and nut mechanism, and the mounting platform is connected to the lead screw and nut mechanism with an adjustable height.
7. The positioning mechanism for an orbital inspection robot according to claim 6, wherein the mounting block is coupled to the lead screw-nut mechanism by a horizontal cylinder.
8. The positioning mechanism of an orbital inspection robot according to claim 1, wherein the mounting station includes a suspension coupled to the horizontal cylinder and a chuck table disposed on the suspension.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111210812.5A CN114012697A (en) | 2021-10-18 | 2021-10-18 | Positioning mechanism of track type inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111210812.5A CN114012697A (en) | 2021-10-18 | 2021-10-18 | Positioning mechanism of track type inspection robot |
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| Publication Number | Publication Date |
|---|---|
| CN114012697A true CN114012697A (en) | 2022-02-08 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN202111210812.5A Pending CN114012697A (en) | 2021-10-18 | 2021-10-18 | Positioning mechanism of track type inspection robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114474163A (en) * | 2022-04-06 | 2022-05-13 | 北京全路通信信号研究设计院集团有限公司 | Real-time positioning method, device and system for track robot |
| CN115609605A (en) * | 2022-11-08 | 2023-01-17 | 上海轨道交通检测认证(集团)有限公司 | Anti-dislocation device of track inspection robot |
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| JPH10175541A (en) * | 1996-12-20 | 1998-06-30 | Mitsubishi Electric Corp | Rail running truck |
| CN102466490A (en) * | 2010-11-04 | 2012-05-23 | 上海宝信软件股份有限公司 | Mobile car positioning device and positioning method thereof |
| CN107263441A (en) * | 2016-04-07 | 2017-10-20 | 北京天道和元科技有限公司 | A kind of precise positioning running gear and method suitable for crusing robot |
| CN107741742A (en) * | 2017-09-26 | 2018-02-27 | 山东鲁能智能技术有限公司 | Track machine people attending device and method of work in a kind of transformer station room |
| CN109048851A (en) * | 2018-10-23 | 2018-12-21 | 哈尔滨工程大学 | A kind of rail mounted crusing robot |
| CN111360784A (en) * | 2020-04-30 | 2020-07-03 | 上海智得自动化工程有限公司 | A rail mounted environment inspection robot for electric power system |
-
2021
- 2021-10-18 CN CN202111210812.5A patent/CN114012697A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10175541A (en) * | 1996-12-20 | 1998-06-30 | Mitsubishi Electric Corp | Rail running truck |
| CN102466490A (en) * | 2010-11-04 | 2012-05-23 | 上海宝信软件股份有限公司 | Mobile car positioning device and positioning method thereof |
| CN107263441A (en) * | 2016-04-07 | 2017-10-20 | 北京天道和元科技有限公司 | A kind of precise positioning running gear and method suitable for crusing robot |
| CN107741742A (en) * | 2017-09-26 | 2018-02-27 | 山东鲁能智能技术有限公司 | Track machine people attending device and method of work in a kind of transformer station room |
| CN109048851A (en) * | 2018-10-23 | 2018-12-21 | 哈尔滨工程大学 | A kind of rail mounted crusing robot |
| CN111360784A (en) * | 2020-04-30 | 2020-07-03 | 上海智得自动化工程有限公司 | A rail mounted environment inspection robot for electric power system |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114474163A (en) * | 2022-04-06 | 2022-05-13 | 北京全路通信信号研究设计院集团有限公司 | Real-time positioning method, device and system for track robot |
| CN114474163B (en) * | 2022-04-06 | 2022-09-13 | 北京全路通信信号研究设计院集团有限公司 | Real-time positioning method, device and system for track robot |
| CN115609605A (en) * | 2022-11-08 | 2023-01-17 | 上海轨道交通检测认证(集团)有限公司 | Anti-dislocation device of track inspection robot |
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Application publication date: 20220208 |
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