CN114434417A - A control device for an inspection robot - Google Patents

Abstract

The invention discloses a control device for an inspection robot, including a motion control device for the inspection robot. The motion control device for the inspection robot includes a robot body, a lateral guide double rail, a track walking driver, a two-way moving mechanism, an inspection head, a rotary driver and a On the manual control screen, several sets of guide grooves are symmetrically arranged under the robot body, and two sets of guide grooves are arranged on the lateral guide double rails. A driving mechanism and two sets of driving discs installed on both sides of the driving mechanism, the two sets of driving discs are respectively nested on the two sets of rail bodies and fixed on the robot body, and the two-way moving mechanism includes a longitudinal moving mechanism and a lateral moving mechanism. The inspection robot motion control device designed by the invention can realize the orbital walking, vertical and horizontal adjustment and rotation adjustment processing of the robot, and greatly improve the motion control effect of the robot.

Description

A control device for an inspection robot

technical field

The invention relates to the technical field of inspection robots, in particular to a control device of an inspection robot.

Background technique

Robots include all machines that simulate human behavior or thinking and simulate other living beings. There are many classifications and controversies about the definition of robots in a narrow sense. Some computer programs are even called robots. In contemporary industry, robots refer to the ability to perform tasks automatically. The artificial machine device used to replace or assist human work is usually an electromechanical device, controlled by a computer program or electronic circuit. With the advancement of technology, robots are used in more and more fields, including inspection robots. , the inspection robot usually cooperates with a set of special motion control device.

However, the existing motion control devices for inspection robots have the following problems during use: (1) The motion control devices of the inspection robots have low flexibility and accuracy for robot motion control, which affects the performance of the inspection robots. The motion effect cannot meet the actual needs; (2) the degree of automation of the motion control device of the existing inspection robot is low, and human assistance is required for operation and use. To this end, it is necessary to design corresponding technical solutions to solve the existing technical problems.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a control device for an inspection robot, which solves the problem that the motion control device of the inspection robot has low flexibility and accuracy for robot motion control, affects the motion effect of the inspection robot, and cannot meet actual needs. , this technical problem.

In order to achieve the above purpose, the present invention provides the following technical solutions: a control device for an inspection robot, including a motion control device for an inspection robot, and the motion control device for an inspection robot includes a robot body, a laterally guided double rail, a rail travel driver, and a bidirectional moving mechanism. , inspection head, rotary driver and manual control screen, several groups of guide grooves are symmetrically opened below the robot body, and the two lateral guide rails are divided into two groups of rail bodies, and the two groups of rail bodies are transversely interspersed with the two groups of guide grooves. In the groove, the track walking driver is installed on the side of the robot body and includes a drive mechanism and two sets of drive disks installed on both sides of the drive mechanism. On the main body, the two-way moving mechanism includes a longitudinal moving mechanism and a lateral moving mechanism, the upper end of the longitudinal moving mechanism is installed with a support plate, the inner end of the support plate is connected with the lateral moving mechanism, and the lower end of the inspection head is installed. A vertical column is fixed vertically, a driven gear is installed on the lower end of the vertical column, the rotary driver is installed on one side of the driven gear and meshes with the driven gear, and the manual control screen is vertically installed below the robot body.

As a preferred mode of the present invention, the driving mechanism includes a casing with notches on both sides and two sets of motors built in the casing. The power output ends of the two sets of motors are installed with rotating gears. The outer side of the rotating gear is connected with the drive plate.

As a preferred mode of the present invention, several groups of helical ridges are formed on the surface of the track body, and the several groups of the helical ridges have a helical structure.

As a preferred mode of the present invention, a collar is movably arranged in the middle of the driving disk, the surface of the collar is processed into a tooth-like structure, and the inner side is processed and formed with a threaded strip, and the collar is engaged with the rotating gear, The threaded strips are located between two adjacent sets of helical convex strips.

As a preferred mode of the present invention, the longitudinal moving mechanism is provided with a second motor, a screw rod, and a slider in sequence from bottom to top, the power output end of the second motor is connected with the screw rod, and the slider thread is inserted through the screw rod. Above, the robot body is provided with a longitudinal groove for use with the slider.

As a preferred mode of the present invention, the lateral movement mechanism includes an electric push rod and a push plate mounted on the outer end of the electric push rod, and the push plate is connected to the support plate.

As a preferred mode of the present invention, the rotary driver includes a third motor and a gear body mounted on the power output end of the third motor, and the gear body meshes with the driven gear.

Compared with the prior art, the beneficial effects of the present invention are as follows:

1. The present invention designs a motion control device specially used for an inspection robot. The inspection robot motion control device includes a robot body, a laterally guided double rail, a track walking driver, a two-way moving mechanism, an inspection head, a rotary driver and a manual Control screen, the robot body is erected on the lateral guide double rails and embedded on the lateral guide double rails to realize the lateral movement of the robot body, and the inspection head can be fine-tuned horizontally and vertically through the two-way movement mechanism. The rotary driver at the bottom can realize the rotation adjustment of the inspection head, so as to realize the control of the multi-directional movement adjustment of the inspection robot, and improve the flexibility and automation of the movement control of the inspection robot. The manual control screen can manually intervene in the operation of the robot body.

2. The inspection robot motion control device designed in the present invention can realize the orbital walking, vertical and horizontal adjustment and rotation adjustment processing of the robot, and greatly improve the motion control effect of the robot.

Description of drawings

Fig. 1 is the overall structure diagram of the present invention;

FIG. 2 is a structural diagram of the drive mechanism according to the present invention;

3 is a structural diagram of the drive disk according to the present invention;

FIG. 4 is a structural diagram of the inspection head according to the present invention.

In the figure: 1. Robot body; 2. Double-track lateral guide; 3. Track travel driver; 4. Bidirectional moving mechanism; 5. Inspection head; 6. Rotary driver; 7. Manual control panel; 8. Guide groove; 9. Track body; 10. Supporting plate; 11. Upright column; 12. Driven gear; 13. Notch; 14. Housing; 15. Motor one; 16. Rotating gear; 17. Spiral convex strip; Threaded strip; 20, motor two; 21, screw; 22, slider; 23, longitudinal groove; 24, electric push rod; 25, push plate; 26, motor three; 27, gear body.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

1-4, the present invention provides a technical solution: a control device for an inspection robot, including a motion control device for the inspection robot, and the motion control device for the inspection robot includes a robot body 1, a lateral guide double rail 2, and a track walking. The driver 3, the two-way moving mechanism 4, the inspection head 5, the rotary driver 6 and the manual control panel 7, several groups of guide grooves 8 are symmetrically opened at the bottom of the robot body 1, and the lateral guide double rail 2 is divided into two groups of rail bodies 9. The rail body 9 is transversely inserted into the two groups of guide grooves 8, and the rail travel driver 3 is installed on the side of the robot body 1 and includes a driving mechanism and two groups of driving disks installed on both sides of the driving mechanism. The group track body 9 is fixed on the robot body 1. The bidirectional movement mechanism 4 includes a longitudinal movement mechanism and a transverse movement mechanism. The upper end of the longitudinal movement mechanism is provided with a support plate 10, and the inner end of the support plate 10 is connected with the transverse movement mechanism. The lower end of the inspection head 5 is vertically fixed with a column 11, the lower end of the column 11 is installed with a driven gear 12, the rotary driver 6 is installed on one side of the driven gear 12 and meshes with the driven gear 12, and the manual control panel 7 is installed vertically. Below the robot body 1.

Further improved, as shown in Figure 2: the drive mechanism includes a casing 14 with slots 13 on both sides and two sets of motors one 15 built in the casing 14, and the power output ends of the two sets of motors one 15 are provided with rotating gears 16. , the outer side of the rotating gear 16 is connected with the drive plate.

For further improvement, as shown in FIG. 1 , the surface of the track body 9 is processed and formed with several groups of helical protruding strips 17 , and the several groups of helical protruding strips 17 have a helical structure.

Further improved, as shown in Figure 3: the middle of the drive disk is movably provided with a collar 18, the surface of the collar 18 is processed into a toothed structure and the inner side is processed and formed with a threaded strip 19, the collar 18 is meshed with the rotating gear 16, The threaded strips 19 are located between the adjacent two groups of helical convex strips 17 .

Further improved, as shown in Figure 1: the longitudinal movement mechanism is provided with a second motor 20, a screw 21, and a slider 22 in sequence from bottom to top, the power output end of the second motor 20 is connected with the screw 21, and the slider 22 is threadedly inserted into the screw. On the screw 21, the robot body 1 is provided with a longitudinal groove 23 for use with the slider 22. The second motor 20 is used to drive the screw 21 to rotate. During the rotation of the screw 21, the slider 22 is driven to move the inspection head 5 longitudinally.

Further improved, as shown in FIG. 1: the lateral movement mechanism includes an electric push rod 24 and a push plate 25 installed on the outer end of the electric push rod 24, the push plate 25 is connected with the support plate 10, and the push plate 25 is pushed through the motor push rod 24. Move, and push the pallet 10 to move laterally through the push plate 25 to achieve lateral movement of the inspection head 5 .

Specifically, the rotary driver 6 includes a motor three 26 and a gear body 27 mounted on the power output end of the motor three 26. The gear body 27 meshes with the driven gear 12, and the gear body 27 is driven to rotate by the motor three 26. The gear body 27 is in the process of rotating The driven gear 12 is driven in the middle, thereby driving the inspection head 5 to rotate.

When in use: the present invention designs a motion control device specially used for inspection robots. The inspection robot motion control device includes a robot body 1, a lateral guide double rail 2, a track walking driver 3, a two-way moving mechanism 4, and an inspection robot. The head 5, the rotary driver 6 and the manual control screen 7, the robot body 1 is erected on the lateral guide double rail 2 and nested on the lateral guide double rail 2 to realize the lateral movement of the robot body 1, and the two-way movement mechanism 4 can be used for patrolling. The inspection head 5 is fine-tuned horizontally and vertically, and the rotation adjustment of the inspection head 5 can be realized by using the rotary driver 6 installed at the bottom of the inspection head 5, so as to realize the control of the multi-directional movement adjustment of the inspection robot and improve the inspection robot. In addition, a manual control screen 7 is arranged below the robot body 1, and the operation of the robot body 1 can be manually intervened.

Finally, it should be noted that the above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, the The technical solutions described in the foregoing embodiments may be modified, or some technical features thereof may be equivalently replaced. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims (7)

1. A control device for an inspection robot, comprising an inspection robot motion control device, characterized in that: the inspection robot motion control device comprises a robot body (1), a laterally guided double rail (2), a rail travel driver (3), A bidirectional moving mechanism (4), an inspection head (5), a rotary driver (6) and a manual control screen (7), a plurality of sets of guide grooves (8) are symmetrically opened below the robot body (1), and the lateral The two guide rails (2) are divided into two groups of rail bodies (9), the two groups of rail bodies (9) are transversely inserted into the two groups of guide grooves (8), and the rail travel driver (3) is installed on the robot body (1). ) and include a drive mechanism and two groups of drive disks installed on both sides of the drive mechanism, the two groups of the drive disks are respectively nested on the two groups of rail bodies (9) and fixed on the robot body (1), the said The bidirectional movement mechanism (4) includes a longitudinal movement mechanism and a transverse movement mechanism, a support plate (10) is installed on the upper end of the longitudinal movement mechanism, and the inner end of the support plate (10) is connected with the transverse movement mechanism, and the patrolling plate (10) is connected with the transverse movement mechanism. A column (11) is vertically fixed on the lower end of the inspection head (5), a driven gear (12) is mounted on the lower end of the column (11), and the rotary driver (6) is mounted on one side of the driven gear (12). And meshed with the driven gear (12), the manual control panel (7) is vertically installed below the robot body (1). 2. A control device for an inspection robot according to claim 1, characterized in that: the drive mechanism comprises a casing (14) with notches (13) on both sides and a built-in casing (14) There are two sets of motors one (15), the power output ends of the two sets of motors one (15) are provided with rotating gears (16), and the outer sides of the rotating gears (16) are connected with the drive plate. 3. A control device for an inspection robot according to claim 1, characterized in that: the surface of the rail body (9) is processed and formed with several groups of spiral ridges (17), and several groups of the spiral ridges are formed. (17) has a helical structure. 4 . The control device of an inspection robot according to claim 3 , wherein a collar ( 18 ) is movably arranged in the middle of the driving disc, and the surface of the collar ( 18 ) is processed and formed into teeth. 5 . A threaded strip (19) is formed on the inner side, the collar (18) is engaged with the rotating gear (16), and the threaded strip (19) is located between the adjacent two groups of helical convex strips (17). 5 . The control device for an inspection robot according to claim 1 , wherein the longitudinal moving mechanism is provided with two motors (20), a screw (21), and a slider (22) in sequence from bottom to top. 6 . , the power output end of the second motor (20) is connected with the screw (21), the slider (22) is threaded on the screw (21), and the robot body (1) is provided with a matching slider ( 22) Longitudinal grooves (23) used. 6. A control device for an inspection robot according to claim 1, wherein the lateral movement mechanism comprises an electric push rod (24) and a push plate (25) mounted on the outer end of the electric push rod (24). , the push plate (25) is connected with the support plate (10). 7. A control device for an inspection robot according to claim 1, wherein the rotary driver (6) comprises a third motor (26) and a gear body (27) mounted on the power output end of the third motor (26) ), the gear body (27) meshes with the driven gear (12).

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