Reset control mechanism for moving arms or rotating arms of pipeline robot

Abstract

The invention discloses a reset control mechanism for moving arms or rotating arms of a pipeline robot. The reset control mechanism comprises a motor, a cam, a position signal feedback switch and a controller, wherein the motor comprises a transmission spindle; the cam is arranged on the transmission spindle; the position signal feedback switch is arranged on one side of the cam and sends a position signal according to the contact state of the position signal feedback switch and the cam; the controller is connected with the position signal feedback switch and the motor, receives the position signal sent by the position signal feedback switch and sends a control instruction to the motor according to the position signal; and the motor executes an action according to the control instruction. The reset control mechanism for the moving arm or the rotating arm of the pipeline robot has the beneficial effects that the structure is simple and dexterous, the pipeline working requirements can be met, and the position signal of the moving arms or the rotating arms can be precisely fed back, so that all the moving arms or the rotating arms of the robot can be reset in time.

Description

technical field [0001] The invention relates to the field of pipeline robot production and manufacturing, in particular to a reset control mechanism for a moving arm or a rotating arm of a pipeline robot. Background technique [0002] In the digital control devices of modern pipeline robots, stepping motors are often used to drive the moving parts such as the robot lifting arm and camera through the transmission device to realize lifting, rotating, pitching and other actions. However, the control of the stepping motor is an open-loop control. If the starting frequency is too high or the load is too large, it is easy to lose steps or stall, and when the speed is too high, it is easy to overshoot. Due to the above-mentioned characteristics of the stepping motor, the rotor position of the motor after power failure and restart cannot be predicted, the type of pulse signal required for motor reset cannot be determined, and the position signal of the rotating arm or moving arm can...

AI Technical Summary

Problems solved by technology

However, the control of the stepping motor is an open-loop control. If the starting frequency is too high or the load is too large, it is easy to lose steps or stall. When the speed is too high, it is easy to overshoot.

Due to the above-mentioned characteristics of the stepping motor, the rotor position of the motor after power failure and restart cannot be predicted, the type of pulse signal required for motor reset cannot be determined, and the position signal of the rotating arm or moving arm cannot be accurately reflected, so that the robot moving arm or rotating arm cannot Timely reset, the existing technology uses a feedback encoder to feedback the position signal, but the feedback encoder is expensive, which will increase the manufacturing cost of the pipeline robot

Moreover, in order to place the encoder on the stepper motor shaft, the system needs to have a larger volume, thereby increasing the overall volume of the pipeline robot, which does not meet the requirements for the robot to work in a pipeline with limited space

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