CN114434417B - Control device of inspection robot - Google Patents
Control device of inspection robot Download PDFInfo
- Publication number
- CN114434417B CN114434417B CN202210091184.1A CN202210091184A CN114434417B CN 114434417 B CN114434417 B CN 114434417B CN 202210091184 A CN202210091184 A CN 202210091184A CN 114434417 B CN114434417 B CN 114434417B
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- robot
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- moving mechanism
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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
- 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 a patrol robot, which comprises a patrol robot motion control device, wherein the patrol robot motion control device comprises a robot body, a transverse guide double-rail, a track traveling driver, a bidirectional moving mechanism, a patrol head, a rotary driver and a manual control screen, a plurality of groups of guide grooves are symmetrically arranged below the robot body, two groups of track bodies are respectively arranged on the transverse guide double-rail, the two groups of track bodies are transversely inserted into the two groups of guide grooves, the track traveling 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 are 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 designed by the invention can realize track walking, longitudinal and transverse adjustment and rotation adjustment treatment 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 ideas and simulate other living things, and in a narrow sense, there are many taxonomies and disputes for robots, and some computer programs are even called robots, and in the contemporary industry, robots refer to artificial machine devices that can automatically perform tasks, so as to replace or assist in human work, typically electromechanical devices, controlled by computer programs or electronic circuits, and with the advancement of technology, the field in which robots are used is more and more widespread, including inspection robots, which are usually matched with a set of special motion control devices.
However, the conventional motion control device for a patrol robot has the following problems in the use process: (1) The motion control device of the inspection robot has lower flexibility and accuracy for controlling the motion of the robot, influences the motion effect of the inspection robot, and cannot meet the actual requirement; (2) The motion control device of the existing inspection robot is low in automation degree and needs to be operated and used manually. For this purpose, a corresponding technical solution is required to be designed to solve the existing technical problems.
Disclosure of Invention
The invention aims to provide a control device of a patrol robot, which solves the technical problems that the motion control device of the patrol robot has lower flexibility and accuracy for controlling the motion of the robot, influences the motion effect of the patrol robot and cannot meet the actual requirement.
In order to achieve the above purpose, the present invention provides the following technical solutions: the utility model provides a patrol and examine controlling means of robot, includes patrol and examine robot motion controlling means, patrol and examine robot motion controlling means and include robot body, horizontal direction double track, track travel driver, two-way moving mechanism, patrol and examine first, rotary actuator and manual control screen, a plurality of guide slots of group have been seted up to the below symmetry of robot body, horizontal direction double track divides and is equipped with two sets of track bodies, two sets of track body transversely alternates in two sets of guide slots, track travel driver installs in the side of robot body and includes actuating mechanism and installs in two sets of driving discs of actuating mechanism both sides, two sets of the driving disc overlap respectively and inlay on two sets of track bodies and be fixed in the robot body, two-way moving mechanism includes longitudinal movement mechanism and transverse movement mechanism, the layer board is installed to longitudinal movement mechanism's upper end, the inner and the transverse movement mechanism of layer board are connected, the lower extreme vertical fixed with the stand of examining first, driven gear is installed to the lower extreme of stand, rotary actuator installs in one side of driven gear and with driven gear meshing, the perpendicular side of robot is installed in the manual control screen.
As a preferable mode of the invention, the driving mechanism comprises a shell with two sides provided with notches and two groups of motors which are arranged in the shell, a rotating gear is arranged at the power output end of each motor, and the outer side of the rotating gear is connected with a driving disc.
As a preferable mode of the invention, the surface of the track body is processed and molded with a plurality of groups of spiral raised strips, and the plurality of groups of spiral raised strips are in a spiral structure.
As a preferable mode of the invention, a lantern ring is movably arranged in the middle of the driving disk, the surface of the lantern ring is processed and formed into a tooth-shaped structure, the inner side of the lantern ring is processed and formed with a thread strip, the lantern ring is meshed with the rotating gear, and the thread strip is positioned between two adjacent groups of spiral raised strips.
As a preferable mode of the invention, the longitudinal moving mechanism is sequentially provided with a second motor, a screw rod and a sliding block from bottom to top, the power output end of the second motor is connected with the screw rod, the sliding block is threaded on the screw rod, and the robot body is provided with a longitudinal groove matched with the sliding block.
As a preferable mode of the invention, the transverse moving mechanism comprises an electric push rod and a push plate arranged at the outer end of the electric push rod, and the push plate is connected with the supporting plate.
As a preferred mode of the present invention, the rotary driver includes a motor three and a gear body mounted at a power output end of the motor three, the gear body being 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 a patrol robot, which comprises a robot body, a transverse guide double rail, a track traveling driver, a bidirectional moving mechanism, a patrol head, a rotary driver and a manual control screen, wherein the robot body is arranged on the transverse guide double rail and is sleeved on the transverse guide double rail to realize transverse movement of the robot body, the patrol head can be subjected to transverse and longitudinal fine adjustment through the bidirectional moving mechanism, the rotary driver arranged at the bottom of the patrol head can be used for realizing rotary adjustment of the patrol head, thereby realizing control of multidirectional movement adjustment of the patrol robot, improving flexibility and automation degree of motion control of the patrol robot, and in addition, the manual control screen is arranged below the robot body to manually intervene in operation of the robot body.
2. The motion control device of the inspection robot designed by the invention can realize track walking, longitudinal and transverse adjustment and rotation adjustment treatment 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 block diagram of a driving mechanism according to the present invention;
FIG. 3 is a diagram of a driving disk structure according to the present invention;
fig. 4 is a schematic diagram of a patrol head according to the present invention.
In the figure, 1, a robot body; 2. a transverse guide double rail; 3. a track travel drive; 4. a bidirectional moving mechanism; 5. a patrol head; 6. a rotary driver; 7. a manual control screen; 8. a guide groove; 9. a track body; 10. a supporting plate; 11. a column; 12. a driven gear; 13. a notch; 14. a housing; 15. a first motor; 16. rotating the gear; 17. spiral raised strips; 18. a collar; 19. a thread strip; 20. a second motor; 21. a screw; 22. a slide block; 23. a longitudinal slot; 24. an electric push rod; 25. a push plate; 26. a third motor; 27. a gear body.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-4, the present invention provides a technical solution: the utility model provides a patrol and examine controlling means of robot, including patrol and examine the robot motion controlling means, patrol and examine the robot motion controlling means and include robot body 1, horizontal direction double track 2, track walking driver 3, two-way movement mechanism 4, patrol and examine first 5, rotary actuator 6 and manual control screen 7, a plurality of guide slots 8 have been seted up to the below symmetry of robot body 1, horizontal direction double track 2 divides two sets of track body 9, two sets of track body 9 transversely alternate in two sets of guide slots 8, track walking driver 3 installs in the side of robot body 1 and includes actuating mechanism and installs in two sets of driving discs of actuating mechanism both sides, two sets of driving discs overlap respectively and inlay on two sets of track body 9 and be fixed in robot body 1, two-way movement mechanism 4 includes longitudinal movement mechanism and transverse movement mechanism, pallet 10 is installed to longitudinal movement mechanism's upper end, the inner and the transverse movement mechanism is connected, the lower extreme of patrol and examine first 5 is fixed with stand 11 perpendicularly, driven gear 12 is installed to the lower extreme of stand 11, rotary actuator 6 installs in one side of driven gear 12 and is installed in driven gear 12 and is meshed in perpendicular below manual control screen 7 of robot body 1.
Further improved, as shown in fig. 2: the driving mechanism comprises a shell 14 with two sides provided with notches 13 and two groups of motors 15 which are arranged in the shell 14, a rotating gear 16 is arranged at the power output end of each motor 15, and the outer side of the rotating gear 16 is connected with a driving disc.
Further improved, as shown in fig. 1: the surface of the track body 9 is processed and formed with a plurality of groups of spiral raised strips 17, and the plurality of groups of spiral raised strips 17 are in a spiral structure.
Further improved, as shown in fig. 3: the middle part activity of driving disk is provided with the lantern ring 18, and the surface machine-shaping of lantern ring 18 is tooth form structure and inboard machine-shaping has screw thread strip 19, and lantern ring 18 and rotation gear 16 meshing, screw thread strip 19 are located between two adjacent spiral sand grip 17.
Further improved, as shown in fig. 1: the longitudinal moving mechanism is sequentially provided with a motor II 20, a screw 21 and a slide block 22 from bottom to top, the power output end of the motor II 20 is connected with the screw 21, the slide block 22 is threaded on the screw 21, a longitudinal groove 23 matched with the slide block 22 is formed in the robot body 1, the screw 21 is driven to rotate by the motor II 20, and the slide block 22 is driven to longitudinally move the inspection head 5 in the process of rotating 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 through the electric push rod 24, and the supporting plate 10 is pushed to move transversely through the push plate 25, so that the inspection head 5 moves transversely.
Specifically, the rotary driver 6 includes a third motor 26 and a gear body 27 mounted at a power output end of the third motor 26, the gear body 27 is meshed with the driven gear 12, the gear body 27 is driven to rotate by the third motor 26, and the gear body 27 drives the driven gear 12 in a rotating process so as to drive the inspection head 5 to rotate.
When in use: the invention designs a motion control device special for a patrol robot, which comprises a robot body 1, a transverse guide double rail 2, a track traveling driver 3, a bidirectional moving mechanism 4, a patrol 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 sleeved on the transverse guide double rail 2 to realize transverse movement of the robot body 1, the patrol head 5 can be subjected to transverse and longitudinal fine adjustment through the bidirectional moving mechanism 4, the rotary adjustment of the patrol head 5 can be realized by utilizing the rotary driver 6 arranged at the bottom of the patrol head 5, thereby realizing control of multidirectional movement adjustment of the patrol robot, improving the flexibility and the automation degree of motion control of the patrol robot, and in addition, the manual control screen 7 is arranged below the robot body 1 to manually intervene in the operation of the robot body 1.
Finally, it should be noted that: the foregoing description is only a preferred embodiment of the present invention, and the present invention is not limited thereto, but it is to be understood that modifications and equivalents of some of the technical features described in the foregoing embodiments may be made by those skilled in the art, although the present invention has been described in detail with reference to the foregoing embodiments. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (4)
1. The utility model provides a control device of inspection robot, includes inspection robot motion control device, its characterized in that: the inspection robot motion control device comprises a robot body (1), a transverse guide double-rail (2), a track traveling driver (3), two groups of driving disks arranged on two sides of the driving mechanism, 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 arranged below the robot body (1), the transverse guide double-rail (2) is divided into 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 traveling driver (3) is arranged on the side surface of the robot body (1) and comprises a driving mechanism and two groups of driving disks arranged on two sides of the driving mechanism, the two groups of driving disks are respectively sleeved on the two groups of track bodies (9) and are fixed on the robot body (1), the two groups of driving disks comprise a longitudinal moving mechanism and a transverse moving mechanism, the upper end of the longitudinal moving mechanism is provided with a supporting plate (10), the inner end of the supporting plate (10) is connected with the transverse moving mechanism, the lower end of the inspection head (5) is fixedly provided with a driven gear (12), the driven gear (12) is arranged on one side of the driven gear (12) and is meshed with the driven gear (12), the manual control screen (7) is vertically arranged below the robot body (1), 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), a rotating gear (16) is arranged at the power output end of each motor (15), the outer side of each rotating gear (16) is connected with the driving disc, a plurality of groups of spiral raised strips (17) are formed in the surface machining mode of the track body (9), the spiral raised strips (17) are in a spiral structure, a lantern ring (18) is movably arranged in the middle of the driving disc, a threaded strip (19) is formed in the surface machining mode of the lantern ring (18) and is meshed with the rotating gear (16), and the threaded strip (19) is located between two adjacent groups of spiral raised strips (17).
2. The inspection robot control device according to claim 1, wherein: the vertical moving mechanism is sequentially provided with a motor II (20), a screw rod (21) and a sliding block (22) from bottom to top, the power output end of the motor II (20) is connected with the screw rod (21), the sliding block (22) is threaded on the screw rod (21), and a vertical groove (23) matched with the sliding block (22) for use is formed in the robot body (1).
3. 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).
4. 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 |
Applications Claiming Priority (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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| Publication Number | Publication Date |
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| CN114434417A CN114434417A (en) | 2022-05-06 |
| CN114434417B true 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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