CN206178470U - Positioner of robot patrols and examines - Google Patents
Positioner of robot patrols and examines Download PDFInfo
- Publication number
- CN206178470U CN206178470U CN201621063748.7U CN201621063748U CN206178470U CN 206178470 U CN206178470 U CN 206178470U CN 201621063748 U CN201621063748 U CN 201621063748U CN 206178470 U CN206178470 U CN 206178470U
- Authority
- CN
- China
- Prior art keywords
- positioning
- trolley
- lifting
- walking
- inspection
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000001514 detection method Methods 0.000 claims abstract description 11
- 238000005259 measurement Methods 0.000 claims abstract description 10
- 238000007689 inspection Methods 0.000 claims description 20
- 229910000831 Steel Inorganic materials 0.000 claims description 7
- 239000010959 steel Substances 0.000 claims description 7
- 238000004804 winding Methods 0.000 claims description 6
- 238000009434 installation Methods 0.000 abstract description 7
- 238000000034 method Methods 0.000 abstract description 3
- 230000003028 elevating effect Effects 0.000 abstract 3
- 238000005516 engineering process Methods 0.000 description 9
- 238000006073 displacement reaction Methods 0.000 description 7
- 238000003754 machining Methods 0.000 description 4
- 230000002411 adverse Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000001788 irregular Effects 0.000 description 2
- 208000035657 Abasia Diseases 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
Landscapes
- Manipulator (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The utility model provides a positioner of robot patrols and examines, patrol and examine the robot patrolling and examining elevating system, set up the detection module on this patrols and examines elevating system including the dolly mechanism of hanging on the overhead track walking, on locating dolly mechanism, it is including walking positioning mechanism and lift positioning mechanism, the walking positioning mechanism include, a plurality of location bar code, set up respectively in on the overhead track, the bar code scan sensor sets up in the dolly mechanism, bar code scan sensor electric connection the control system of dolly mechanism, the lift positioning mechanism include, the laser rangefinder sensor sets up in the dolly mechanism, range finding feedback board sets up the detection module on the elevating system patrols and examines to be located laser rangefinder sensor below. The utility model discloses positioner adopts and directly connects the location finding technique, overcomes the mechanical structure error among the prior art completely, and the installation is simple, measurement accuracy is high, response speed is fast.
Description
Technical Field
The utility model relates to a positioner of inspection robot.
Background
Historically, the real world robot appeared in 1959, and through 40 years of development, more than 90 tens of thousands of industrial robots, up to several tens of species, have been equipped worldwide, serving human production and life in many areas. Most industrial robots are unable to walk, typically relying on rails and guides to achieve X, Y, Z movement in three directions. The lifting part (Z axis) is an indispensable part of the robot.
For walking positioning, the traditional technology adopts an encoder positioning system, which is used as an indirect positioning technology, can not overcome errors caused by accessory mechanical structures, friction wheel slippage, encoder pulse loss and the like on a motor output shaft, and has higher requirements on machining and installation. And other direct displacement sensors such as a pull rope and a scale are adopted, so that the device cannot adapt to a long-distance positioning environment with a bent rail. The laser ranging positioning system cannot overcome the problem of curved rail positioning due to linear propagation of light.
For the positioning of the lifting mechanism, a coder positioning system is adopted in the traditional technology as an indirect positioning technology, errors caused by the mechanical structure of accessories on a motor output shaft, irregular winding of steel wires, lost pulse of a coder and the like cannot be overcome, and the requirements on machining and installation are high. In addition, other direct displacement sensors such as a pull rope and a scale are adopted, measuring media (such as the pull rope and the scale) are required, adverse effects are brought to mechanical structures and product shapes, and measuring accuracy is general. In addition, a bar code positioning system is adopted, a lifting mechanism needs to stretch, and bar codes do not have laying conditions.
Disclosure of Invention
An object of the utility model is to design a positioner who patrols and examines robot, adopt and directly connect the location technique, overcome the mechanical structure error among the prior art completely, the installation is simple, measurement accuracy is high, response speed is fast.
In order to achieve the above purpose, the technical scheme of the utility model is that:
a positioning device of an inspection robot is characterized in that an inspection robot body comprises a trolley mechanism, an inspection lifting mechanism and a detection module, wherein the trolley mechanism is hung on an overhead track and travels, the inspection lifting mechanism is arranged on the trolley mechanism, and the detection module is arranged on the inspection lifting mechanism; the device comprises a walking positioning mechanism and a lifting positioning mechanism; the walking positioning mechanism comprises a plurality of positioning bar codes which are respectively arranged on the overhead track; the bar code scanning sensor is arranged on the trolley mechanism and is electrically connected with a control system of the trolley mechanism; the lifting positioning mechanism comprises a laser ranging sensor arranged on the trolley mechanism; and the distance measurement feedback board is arranged on the detection module on the inspection lifting mechanism and is positioned below the laser distance measurement sensor.
Preferably, the barcode scanning sensor is communicated and interacted with a control system of the trolley mechanism through Ethernet; the trolley mechanism is matched with the overhead track through a servo motor and a friction wheel to realize walking.
Preferably, the laser ranging sensor is communicated and interacted with a control system of the trolley mechanism through Ethernet; the trolley mechanism enables the lifting mechanism to be accurately positioned by winding a steel wire through the servo motor.
Compared with the prior art, the utility model has the advantages of:
1. for walking positioning, the traditional technology adopts an encoder positioning system, which is used as an indirect positioning technology, can not overcome errors caused by accessory mechanical structures, friction wheel slippage, encoder pulse loss and the like on a motor output shaft, and has higher requirements on machining and installation. And other direct displacement sensors such as a pull rope and a scale are adopted, so that the device cannot adapt to a long-distance positioning environment with a bent rail. The laser ranging positioning system cannot overcome the problem of curved rail positioning due to linear propagation of light.
The utility model discloses bar code positioning system, as directly connecing the location technology, the adaptation application environment, overcome the error that annex mechanical structure, friction pulley skidded etc. and bring on the motor output shaft completely, the installation is simple, measurement accuracy is high, response speed is fast.
2. For the positioning of the lifting mechanism, a coder positioning system is adopted in the traditional technology as an indirect positioning technology, errors caused by the mechanical structure of accessories on a motor output shaft, irregular winding of steel wires, lost pulse of a coder and the like cannot be overcome, and the requirements on machining and installation are high. In addition, other direct displacement sensors such as a pull rope and a scale are adopted, measuring media (such as the pull rope and the scale) are required, adverse effects are brought to mechanical structures and product shapes, and measuring accuracy is general. In addition, a bar code positioning system is adopted, a lifting mechanism needs to stretch, and bar codes do not have laying conditions.
The utility model discloses a laser rangefinder location, as the direct location technique, overcome the error that mechanical mechanism, steel wire coiling etc. brought completely, regard as the measuring medium with laser simultaneously, as long as guarantee complete light path can, measurement accuracy is high, response speed is fast.
Drawings
Fig. 1 is a perspective view of an embodiment of the present invention.
Fig. 2 is a front view of an embodiment of the present invention.
Detailed Description
Referring to fig. 1 to 2, the positioning device for an inspection robot of the present invention includes a cart mechanism 10 suspended on an overhead rail 200 to travel, an inspection lifting mechanism 20 disposed on the cart mechanism 10, and a detection module 30 disposed on the inspection lifting mechanism 20; the device comprises a walking positioning mechanism 1 and a lifting positioning mechanism 2; wherein,
the walking positioning mechanism 1 comprises a walking positioning mechanism body,
a plurality of positioning bar codes 11 respectively arranged on the overhead rail 200 for the trolley mechanism 10 to travel;
the bar code scanning sensor 12 is arranged on the trolley mechanism 10, and the bar code scanning sensor 12 is electrically connected with a control system of the trolley mechanism 10; the lifting and positioning mechanism 2 comprises a lifting and positioning mechanism,
the laser ranging sensor 21 is arranged on the trolley mechanism 10;
and the distance measurement feedback board 22 is provided with the detection module 30 on the patrol inspection lifting mechanism 20 and is positioned below the laser distance measurement sensor 21.
Preferably, the barcode scanning sensor is communicated and interacted with a control system of the trolley mechanism through Ethernet; the trolley mechanism is matched with the overhead track through a servo motor and a friction wheel to realize walking.
Preferably, the laser ranging sensor is communicated and interacted with a control system of the trolley mechanism through Ethernet; the trolley mechanism enables the lifting mechanism to be accurately positioned by winding a steel wire through the servo motor.
The real-time displacement or the actual position of the travelling mechanism is accurately positioned by the bar code scanning sensor, the real-time displacement or the actual position of the travelling mechanism is interactively communicated with the PLC through Ethernet, the PLC controls an actuating mechanism, namely a servo motor, according to the real-time displacement, and the servo motor realizes the accurate positioning within 1mm of the travelling mechanism through the transmission of a friction wheel.
The laser ranging sensor accurately measures the distance from a laser emitting point to a reflecting point, analog quantity signals are transmitted to the PLC, the PLC controls the servo motor according to the actual distance, and the servo motor winds the steel wire through the winding mechanism to achieve lifting and accurate positioning of the instrument cabin-detection module.
Claims (3)
1. A positioning device of an inspection robot is characterized in that an inspection robot body comprises a trolley mechanism, an inspection lifting mechanism and a detection module, wherein the trolley mechanism is hung on an overhead track and travels, the inspection lifting mechanism is arranged on the trolley mechanism, and the detection module is arranged on the inspection lifting mechanism; it is characterized by comprising a walking positioning mechanism and a lifting positioning mechanism; wherein,
the walking positioning mechanism comprises a walking positioning mechanism and a walking positioning mechanism,
the positioning bar codes are respectively arranged on the overhead track;
the bar code scanning sensor is arranged on the trolley mechanism and is electrically connected with a control system of the trolley mechanism;
the lifting and positioning mechanism comprises a lifting and positioning mechanism,
the laser ranging sensor is arranged on the trolley mechanism; the laser ranging sensor is electrically connected with the control system of the trolley mechanism;
and the distance measurement feedback board is arranged on the detection module on the inspection lifting mechanism and is positioned below the laser distance measurement sensor.
2. The inspection robot positioning device according to claim 1, wherein the barcode scanning sensor interacts with the cart mechanism control system via ethernet communications; the trolley mechanism is matched with the overhead track through a servo motor and a friction wheel to realize walking.
3. The inspection robot positioning device according to claim 1, wherein the laser ranging sensors interact with the trolley mechanism control system via ethernet communications; the trolley mechanism enables the lifting mechanism to be accurately positioned by winding a steel wire through the servo motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621063748.7U CN206178470U (en) | 2016-09-19 | 2016-09-19 | Positioner of robot patrols and examines |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621063748.7U CN206178470U (en) | 2016-09-19 | 2016-09-19 | Positioner of robot patrols and examines |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206178470U true CN206178470U (en) | 2017-05-17 |
Family
ID=58676467
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621063748.7U Active CN206178470U (en) | 2016-09-19 | 2016-09-19 | Positioner of robot patrols and examines |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206178470U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107139161A (en) * | 2017-06-09 | 2017-09-08 | 杭州亚美利嘉科技有限公司 | Suspension type guide rails of robots, suspension type robot and its runtime |
| CN110977929A (en) * | 2019-12-23 | 2020-04-10 | 北京海益同展信息科技有限公司 | Movement device, positioning method, rail device and movement system |
| WO2020238310A1 (en) * | 2019-05-24 | 2020-12-03 | 北京海益同展信息科技有限公司 | Track inspection robot |
| CN113844817A (en) * | 2021-11-01 | 2021-12-28 | 江苏昱博自动化设备有限公司 | Linear positioning transfer robot for storage and transfer and control method |
-
2016
- 2016-09-19 CN CN201621063748.7U patent/CN206178470U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107139161A (en) * | 2017-06-09 | 2017-09-08 | 杭州亚美利嘉科技有限公司 | Suspension type guide rails of robots, suspension type robot and its runtime |
| WO2020238310A1 (en) * | 2019-05-24 | 2020-12-03 | 北京海益同展信息科技有限公司 | Track inspection robot |
| CN110977929A (en) * | 2019-12-23 | 2020-04-10 | 北京海益同展信息科技有限公司 | Movement device, positioning method, rail device and movement system |
| CN113844817A (en) * | 2021-11-01 | 2021-12-28 | 江苏昱博自动化设备有限公司 | Linear positioning transfer robot for storage and transfer and control method |
| CN113844817B (en) * | 2021-11-01 | 2023-09-26 | 江苏昱博自动化设备有限公司 | Linear positioning transfer robot for warehouse transfer and control method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN206178470U (en) | Positioner of robot patrols and examines | |
| CN109720609B (en) | Suspended microgravity simulation device and control method | |
| CN110068286B (en) | Three-dimensional full-outline measurement system and method based on large gantry inverted-hanging cooperative mechanical arm | |
| CN103846649A (en) | Two-stage parallel robot device applied to precision assembly | |
| CN110273819B (en) | Apparatus and method for maintaining wind turbine blades | |
| CN104330031A (en) | Portable overhead line geometric parameters detection method and system based on binocular linear array CCD camera | |
| CN205158096U (en) | Lifting system | |
| CN204138189U (en) | The quick accurate positioning device of grab crane based on fuzzy neuron PID controller | |
| CN108946495A (en) | A kind of unmanned intelligent positioning driving | |
| CN107953313A (en) | A kind of robot lifting gear | |
| CN103868453A (en) | Automatic detection device for direct driving grating ruler | |
| CN104129715A (en) | Bridge type crane positioning system based on laser ranging and bar code positioning technology | |
| CN112429640B (en) | Method for controlling anti-swing of crown block | |
| CN201795776U (en) | Flatness measuring instrument | |
| CN105866130B (en) | A kind of pipeline on-line detecting system | |
| CN113022388B (en) | Automatic dropper calibration system and method | |
| CN112125158A (en) | Walking positioning method of trolley type single-beam crane | |
| CN208829214U (en) | A kind of latent lift type AGV of laser omnidirectional | |
| CN211236687U (en) | Low-cost high accuracy three-dimensional positioning AGV navigation head based on laser positioning | |
| Lim et al. | The inchworm type blade inspection robot system | |
| CN209639680U (en) | A kind of device using laser measurement fashioned iron length | |
| CN201737602U (en) | Crane positioner | |
| CN111367293A (en) | Underground logistics cabin positioning device and method | |
| CN206615933U (en) | A kind of crane deflection angle measurement device based on trace ball | |
| CN201586971U (en) | On-line positioning device of high-voltage power transmission line with tour-inspecting robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |