CN114434417A - Control device of inspection robot - Google Patents
Control device of inspection robot Download PDFInfo
- Publication number
- CN114434417A CN114434417A CN202210091184.1A CN202210091184A CN114434417A CN 114434417 A CN114434417 A CN 114434417A CN 202210091184 A CN202210091184 A CN 202210091184A CN 114434417 A CN114434417 A CN 114434417A
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- control device
- robot
- moving mechanism
- inspection
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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
- B25J13/00—Controls for manipulators
- B25J13/06—Control stands, e.g. consoles, switchboards
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a control device of an inspection robot, which comprises an inspection robot motion control device, wherein the inspection robot motion control device comprises a robot body, transverse guide double rails, a rail walking driver, a bidirectional moving mechanism, an inspection head, a rotary driver and a manual control screen, a plurality of groups of guide grooves are symmetrically formed below the robot body, the transverse guide double rails are respectively provided with two groups of rail bodies, the two groups of rail bodies are transversely inserted into the two groups of guide grooves, the rail walking driver is arranged on the side surface of the robot body and comprises a driving mechanism and two groups of driving discs arranged on two sides of the driving mechanism, the two groups of driving discs are respectively sleeved on the two groups of rail bodies and fixed on the robot body, and the bidirectional moving mechanism comprises a longitudinal moving mechanism and a transverse moving mechanism. The motion control device of the inspection robot can realize the rail walking, the longitudinal and transverse adjustment and the rotation adjustment of the robot, and greatly improve the motion control effect of the robot.
Description
Technical Field
The invention relates to the technical field of inspection robots, in particular to a control device of an inspection robot.
Background
Robots include all machines that simulate human behavior or thought and other creatures, and there are many taxonomies and disputes to the definition of robots in the narrow sense, some computer programs are even also called robots, in the modern industry, robots refer to artificial robot devices that can automatically execute tasks to replace or assist human work, generally electromechanical devices, controlled by computer programs or electronic circuits, and the fields in which robots are used are more and more extensive with the progress of science and technology, including inspection robots, which are usually matched with a set of special motion control devices.
However, the conventional motion control device for the inspection robot has the following problems in the use process: (1) the motion control device of the inspection robot has lower flexibility and accuracy on the motion control of the robot, influences the motion effect of the inspection robot and cannot meet the actual requirement; (2) the automation degree of the motion control device of the existing inspection robot is low, and manual assistance is needed for operation and use. Therefore, a corresponding technical scheme needs to be designed to solve the existing technical problems.
Disclosure of Invention
The invention aims to provide a control device of an inspection robot, which solves the technical problems that the motion control device of the inspection robot has lower flexibility and accuracy on the motion control of the robot, influences the motion effect of the inspection robot and cannot meet the actual requirement.
In order to achieve the purpose, the invention provides the following technical scheme: a control device of an inspection robot comprises an inspection robot motion control device, wherein the inspection robot motion control device comprises a robot body, transverse guide double rails, a track walking driver, a two-way moving mechanism, an inspection head, a rotary driver and a manual control screen, a plurality of groups of guide grooves are symmetrically formed below the robot body, the transverse guide double rails are respectively provided with two groups of track bodies, the two groups of track bodies are transversely inserted into the two groups of guide grooves, the track walking driver is arranged on the side surface of the robot body and comprises a driving mechanism and two groups of driving discs arranged on two sides of the driving mechanism, the two groups of driving discs are respectively sleeved on the two groups of track bodies and fixed on the robot body, the two-way moving mechanism comprises a longitudinal moving mechanism and a transverse moving mechanism, and a supporting plate is arranged at the upper end of the longitudinal moving mechanism, the inner of layer board is connected with lateral shifting mechanism, the lower extreme vertical fixation of head of patrolling and examining has the stand, driven gear is installed to the lower extreme of stand, rotary actuator installs in one side of driven gear and with driven gear meshing, manual control screen vertical installation is in the below of robot body.
As a preferable mode of the present invention, the driving mechanism includes a housing having notches at both sides thereof and two sets of first motors built in the housing, a power output end of the two sets of first motors is provided with a rotating gear, and an outer side of the rotating gear is connected to the driving disc.
In a preferred embodiment of the present invention, the surface of the track body is formed with a plurality of sets of spiral protruding strips, and the plurality of sets of spiral protruding strips are in a spiral structure.
As a preferable mode of the present invention, a lantern ring is movably disposed in the middle of the driving disk, a surface of the lantern ring is formed into a tooth-shaped structure, a thread strip is formed on an inner side of the lantern ring, the lantern ring is engaged with the rotating gear, and the thread strip is located between two adjacent sets of the spiral protruding strips.
As a preferred mode of the invention, the longitudinal moving mechanism is sequentially provided with a second motor, a screw and a sliding block from bottom to top, a power output end of the second motor is connected with the screw, the sliding block is inserted in the screw in a threaded manner, and the robot body is provided with a longitudinal groove matched with the sliding block for use.
As a preferable mode of the present invention, the lateral moving mechanism includes an electric push rod and a push plate installed at an outer end of the electric push rod, and the push plate is connected to the support plate.
In a preferred embodiment of the present invention, the rotary actuator includes a third motor and a gear body mounted on a power output end of the third motor, and the gear body is engaged with the driven gear.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention designs a motion control device special for an inspection robot, which comprises a robot body, a transverse guide double rail, a rail walking driver, a bidirectional moving mechanism, an inspection head, a rotary driver and a manual control screen, wherein the robot body is erected on the transverse guide double rail and is embedded on the transverse guide double rail through a sleeve to realize the transverse movement of the robot body, the inspection head can be finely adjusted transversely and longitudinally through the bidirectional moving mechanism, the rotary adjustment of the inspection head can be realized by utilizing the rotary driver arranged at the bottom of the inspection head, thereby realize the control to patrolling and examining the diversified removal regulation of robot, improve the flexibility and the degree of automation of patrolling and examining the motion control of robot, be provided with the manual control screen in the below of robot body in addition, can carry out manual intervention to the function of robot body.
2. The motion control device of the inspection robot can realize the rail walking, the longitudinal and transverse adjustment and the rotation adjustment of the robot, and greatly improve the motion control effect of the robot.
Drawings
FIG. 1 is an overall block diagram of the present invention;
FIG. 2 is a view of the drive mechanism of the present invention;
FIG. 3 is a view of the drive plate configuration of the present invention;
fig. 4 is a diagram of the inspection head structure according to the present invention.
In the figure, 1, a robot body; 2. a transverse guide double track; 3. a rail travel drive; 4. a bidirectional moving mechanism; 5. an inspection head; 6. a rotary driver; 7. a manual control screen; 8. a guide groove; 9. a track body; 10. a support plate; 11. a column; 12. a driven gear; 13. a notch; 14. a housing; 15. a first motor; 16. a rotating gear; 17. a spiral rib; 18. a collar; 19. a threaded strip; 20. a second motor; 21. a screw; 22. a slider; 23. a longitudinal slot; 24. an electric push rod; 25. pushing the plate; 26. a third motor; 27. a gear body.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-4, the present invention provides a technical solution: a control device of an inspection robot comprises an inspection robot motion control device, the inspection robot motion control device comprises a robot body 1, transverse guide double rails 2, a rail walking driver 3, a bidirectional moving mechanism 4, an inspection head 5, a rotary driver 6 and a manual control screen 7, a plurality of groups of guide grooves 8 are symmetrically arranged below the robot body 1, the transverse guide double rails 2 are respectively provided with two groups of rail bodies 9, the two groups of rail bodies 9 are transversely inserted into the two groups of guide grooves 8, the rail walking driver 3 is arranged on the side surface of the robot body 1 and comprises a driving mechanism and two groups of driving discs arranged on two sides of the driving mechanism, the two groups of driving discs are respectively sleeved on the two groups of rail bodies 9 and fixed on the robot body 1, the bidirectional moving mechanism 4 comprises a longitudinal moving mechanism and a transverse moving mechanism, and a supporting plate 10 is arranged at the upper end of the longitudinal moving mechanism, the inner end of the supporting plate 10 is connected with a transverse moving mechanism, an upright post 11 is vertically fixed at the lower end of the inspection head 5, a driven gear 12 is installed at the lower end of the upright post 11, a rotary driver 6 is installed at one side of the driven gear 12 and meshed with the driven gear 12, and a manual control screen 7 is vertically installed below the robot body 1.
Further improved, as shown in fig. 2: the driving mechanism comprises a shell 14 with notches 13 formed in two sides and two groups of motors 15 arranged in the shell 14, rotating gears 16 are mounted at power output ends of the two groups of motors 15, and the outer sides of the rotating gears 16 are connected with the driving disc.
Further improved, as shown in fig. 1: the surface of the track body 9 is formed with a plurality of groups of spiral raised lines 17, and the plurality of groups of spiral raised lines 17 are in a spiral structure.
In a further improvement, as shown in fig. 3: the middle part activity of driving-disc is provided with the lantern ring 18, and the surface machining of lantern ring 18 is the dentate structure and inboard machine-shaping has screw thread strip 19, and lantern ring 18 and rotating gear 16 meshing, screw thread strip 19 are located between two sets of adjacent spiral sand grip 17.
Further improved, as shown in fig. 1: the longitudinal moving mechanism is sequentially provided with a second motor 20, a screw 21 and a sliding block 22 from bottom to top, the power output end of the second motor 20 is connected with the screw 21, the sliding block 22 is inserted in the screw 21 in a penetrating mode, a longitudinal groove 23 matched with the sliding block 22 for use is formed in the robot body 1, the screw 21 is driven to rotate by the second motor 20, and the sliding block 22 is driven to longitudinally move to inspect the head 5 to longitudinally move in the rotating process of the screw 21.
Further improved, as shown in fig. 1: the transverse moving mechanism comprises an electric push rod 24 and a push plate 25 arranged at the outer end of the electric push rod 24, the push plate 25 is connected with the supporting plate 10, the push plate 25 is pushed to move by the motor push rod 24, the supporting plate 10 is pushed to transversely move by the push plate 25, and the inspection head 5 is transversely moved.
Specifically, the rotary driver 6 comprises a motor III 26 and a gear body 27 installed at the power output end of the motor III 26, the gear body 27 is meshed with the driven gear 12, the gear body 27 is driven to rotate through the motor III 26, and the gear body 27 drives the driven gear 12 in the rotating process, so that the inspection head 5 is driven to rotate.
When in use: the invention designs a motion control device specially used for an inspection robot, which comprises a robot body 1, a transverse guide double rail 2, a rail walking driver 3, a bidirectional moving mechanism 4, an inspection head 5, a rotary driver 6 and a manual control screen 7, wherein the robot body 1 is erected on the transverse guide double rail 2 and is embedded on the transverse guide double rail 2 through a sleeve, so that the transverse movement of the robot body 1 is realized, the inspection head 5 can be transversely and longitudinally finely adjusted through the bidirectional moving mechanism 4, the rotary driver 6 arranged at the bottom of the inspection head 5 can be used for realizing the rotary adjustment of the inspection head 5, thereby realizing the control of the multidirectional movement adjustment of the inspection robot, improving the flexibility and the automation degree of the motion control of the inspection robot, and in addition, the manual control screen 7 is arranged below the robot body 1, manual intervention of the functioning of the robot body 1 is possible.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. The utility model provides a control device who patrols and examines robot, includes patrols and examines robot motion control device, its characterized in that: the inspection robot motion control device comprises a robot body (1), transverse guide double rails (2), a track walking driver (3), a two-way moving mechanism (4), an inspection head (5), a rotary driver (6) and a manual control screen (7), wherein a plurality of groups of guide grooves (8) are symmetrically formed below the robot body (1), the transverse guide double rails (2) are respectively provided with two groups of track bodies (9), the two groups of track bodies (9) are transversely inserted into the two groups of guide grooves (8), the track walking driver (3) is arranged on the side surface of the robot body (1) and comprises a driving mechanism and two groups of driving discs arranged on the two sides of the driving mechanism, the two groups of driving discs are respectively sleeved on the two groups of track bodies (9) and fixed on the robot body (1), the two-way moving mechanism (4) comprises a longitudinal moving mechanism and a transverse moving mechanism, support plate (10) are installed to vertical moving mechanism's upper end, the inner of support plate (10) is connected with lateral shifting mechanism, the lower extreme vertical fixation of head (5) of patrolling and examining has stand (11), driven gear (12) are installed to the lower extreme of stand (11), rotary actuator (6) are installed in one side of driven gear (12) and are meshed with driven gear (12), manual control screen (7) are installed perpendicularly in the below of robot body (1).
2. The inspection robot control device according to claim 1, wherein: the driving mechanism comprises a shell (14) with notches (13) formed in two sides and two sets of motors (15) arranged in the shell (14), a rotating gear (16) is installed at the power output end of each motor (15), and the outer side of each rotating gear (16) is connected with a driving disc.
3. The inspection robot control device according to claim 1, wherein: the surface machining forming of track body (9) has a plurality of groups spiral sand grip (17), a plurality of groups spiral sand grip (17) are helical structure.
4. The inspection robot control device according to claim 3, wherein: the middle part activity of driving-disc is provided with lantern ring (18), the surface machining shaping of lantern ring (18) is dentate structure and inboard machining shaping has screw thread strip (19), lantern ring (18) and rotating gear (16) meshing, screw thread strip (19) are located between two sets of adjacent spiral sand grip (17).
5. The inspection robot control device according to claim 1, wherein: the longitudinal moving mechanism is sequentially provided with a second motor (20), a screw rod (21) and a sliding block (22) from bottom to top, the power output end of the second motor (20) is connected with the screw rod (21), the sliding block (22) is threaded on the screw rod (21) in an inserting mode, and a longitudinal groove (23) matched with the sliding block (22) in use is formed in the robot body (1).
6. The inspection robot control device according to claim 1, wherein: the transverse moving mechanism comprises an electric push rod (24) and a push plate (25) arranged at the outer end of the electric push rod (24), and the push plate (25) is connected with the supporting plate (10).
7. The inspection robot control device according to claim 1, wherein: the rotary driver (6) comprises a motor III (26) and a gear body (27) arranged at the power output end of the motor III (26), and the gear body (27) is meshed with the driven gear (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210091184.1A CN114434417B (en) | 2022-01-26 | 2022-01-26 | Control device of inspection robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210091184.1A CN114434417B (en) | 2022-01-26 | 2022-01-26 | Control device of inspection robot |
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| Publication Number | Publication Date |
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| CN114434417A true CN114434417A (en) | 2022-05-06 |
| CN114434417B CN114434417B (en) | 2023-08-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210091184.1A Active CN114434417B (en) | 2022-01-26 | 2022-01-26 | Control device of inspection robot |
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