High-precision inspection robot operation distance recording device
Through the combined structure of the substrate, fixed bracket, rotary encoder and press wheel assembly, the detection accuracy problem of the inspection robot distance recording device at uneven tracks or joints is solved, and high-precision position data recording and accurate stop are achieved.
Patent Information
- Application Number
- CN202422392685.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-29
- Publication Date
- 2025-08-01
- Estimated Expiration
- 2034-09-29
AI Technical Summary
The distance recording device of existing high-precision patrol robots is prone to idle or locking when tracks are uneven or joints, which affects the detection accuracy.
The combined structure of the substrate, a fixed bracket, a rotary encoder and a press wheel assembly is adopted. The roller is kept in contact with the track through the press wheel assembly. The rotary encoder detects the rotation angle of the roller and the press wheel assembly maintains the roller contact stably through the spring.
Improve the detection accuracy of the rotary encoder, ensure that the robot accurately stops at the specified position and provides accurate position data.
Smart Images
Figure CN223173020U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of inspection robots, in particular to a high-precision inspection robot running distance recording device. Background Art
[0002] In the current industrial production and automation fields, the running distance recording device of a high-precision inspection robot is crucial for ensuring the positioning accuracy of the robot and the accuracy of the movement trajectory.
[0003] Currently, a mechanical encoder is often fixedly connected to the steering structure of the robot, and a roller that moves along with the track is installed at the rotating shaft end of the encoder. The running distance can be effectively recorded by the movement of the roller. However, this method has some deficiencies. For example, when the track is uneven, or there is a small height difference at the joint of two sections of the track due to assembly reasons, the roller may experience short-term idling or locking, thus affecting the detection accuracy of the distance recording device. Summary of the Utility Model
[0004] The embodiment of the utility model provides a high-precision inspection robot running distance recording device to solve the problems in the prior art.
[0005] The embodiment of the utility model adopts the following technical scheme: A high-precision inspection robot running distance recording device is installed on the steering mechanism of the inspection robot, and includes: a base plate fixedly installed on the steering mechanism; a fixed bracket, on which a roller is rotatably connected, and the fixed bracket is rotatably connected to the base plate to adjust the position of the roller; a rotary encoder installed on the fixed bracket and mechanically coupled with the roller; a pressure wheel assembly arranged between the base plate and the fixed bracket to push the fixed bracket, so as to keep the roller always in rolling contact with the track.
[0006] Preferably, the rolling direction of the roller is consistent with the moving direction of the inspection robot.
[0007] Preferably, the pressure wheel assembly includes: a pressure spring plate fixedly installed on the base plate; a support fixedly installed on the fixed bracket; a spring, the two ends of which are respectively installed on the pressure spring plate and the support, and the support is elastically supported by the spring so that the roller elastically abuts against the track.
[0008] Preferably, a first positioning post is provided on one side of the pressure spring plate close to the support, a second positioning post is provided on one side of the support close to the pressure spring plate, and both ends of the spring are respectively sleeved into the first positioning post and the second positioning post in an interference fit manner.
[0009] Preferably, a shaft hole is provided on the fixed bracket, at least one deep groove ball bearing is installed in the shaft hole, and a set screw is further provided beside the shaft hole. The set screw passes through the inner ring of the deep groove ball bearing and is threadedly connected to the base plate.
[0010] Preferably, a bearing gland fixedly connected to the fixed bracket is provided at the outer end of the shaft hole to axially limit the deep groove ball bearing.
[0011] Preferably, a boss bearing fixing ring is installed on the fixed bracket to limit the axial movement of the roller, and the rotating shaft of the rotary encoder is coaxially and fixedly connected to the rotating shaft of the roller.
[0012] The above at least one technical solution adopted in the embodiment of the present invention can achieve the following beneficial effects:
[0013] First, when the inspection robot is walking, the roller can move with it. The rotation angle of the roller can be accurately detected by the rotary encoder, so as to calculate the running distance of the inspection robot. Through the pressure wheel assembly, the roller can always roll and contact the track, so as to ensure that the running of the roller is consistent with the actual running distance of the track robot, and improve the detection accuracy of the rotary encoder. Thus, the inspection robot can accurately stop at the designated position for inspection; provide accurate position data for the inspection robot.
[0014] Second, when the inspection robot is walking, the roller can move with it. The rotation angle of the roller can be accurately detected by the rotary encoder, so as to calculate the running distance of the inspection robot. Through the pressure wheel assembly, the roller can always roll and contact the track, so as to ensure that the running of the roller is consistent with the actual running distance of the track robot, and improve the detection accuracy of the rotary encoder. Thus, the inspection robot can accurately stop at the designated position for inspection; provide accurate position data for the inspection robot. BRIEF DESCRIPTION OF THE DRAWINGS
[0015] The drawings described herein are used to provide a further understanding of the present invention, and constitute a part of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention, and do not constitute an improper limitation of the present invention. In the drawings:
[0016] Figure 1 is a schematic three-dimensional structure of the present invention Figure 1 ;
[0017] Figure 2 is a schematic three-dimensional structure of the present invention Figure 2 ;
[0018] Figure 3 is Figure 2 a partial enlarged view of part A in
[0019] Figure 4 is a front view of the present invention;
[0020] Figure 5Schematic diagram of the connection of the rotary encoder, roller, convex bearing fixing ring and fixing bracket of the present utility model;
[0021] Reference numerals
[0022] 1 - Substrate; 2 - Fixing bracket; 21 - Roller; 22 - Axle hole; 23 - Deep groove ball bearing; 24 - Set screw; 25 - Bearing gland; 26 - Convex bearing fixing ring; 27 - Horizontal plate; 28 - Side plate; 3 - Rotary encoder; 4 - Pressing wheel assembly; 41 - Pressing spring plate; 411 - First positioning post; 42 - Support; 421 - Second positioning post; 43 - Spring; 5 - Track. Detailed implementation manners
[0023] To make the objectives, technical solutions and advantages of the present utility model clearer, the technical solutions of the present utility model will be clearly and completely described below in conjunction with specific embodiments of the present utility model and the corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present utility model.
[0024] The following will, with reference to the drawings, elaborate on the technical solutions provided by each embodiment of the present utility model.
[0025] Refer to Figures 1 to 5 As shown, an embodiment of the present utility model provides a high-precision inspection robot operation distance recording device, which is installed on the steering mechanism of the inspection robot (this structure is prior art and not shown in the figure). When the inspection robot travels on the track 5, the distance recording device can move together with the steering mechanism. The distance recording device mainly includes a substrate 1, a fixing bracket 2, a rotary encoder 3 and a pressing wheel assembly 4. The substrate 1 is fixedly installed on the steering mechanism of the inspection robot and is used to support the entire operation distance recording device.
[0026] A roller 21 is rotatably connected to the fixing bracket 2. The fixing bracket 2 is rotatably connected to the substrate 1 to adjust the position of the roller 21. The rolling direction of the roller 21 is consistent with the moving direction of the inspection robot. The rotary encoder 3 is installed on the fixing bracket 2 and is mechanically coupled with the roller 21. In some practical applications, the rotary encoder 3 adopts high-precision and high-speed specifications to meet the high-speed and high-precision inspection requirements of the inspection robot. The roller 21 is made of corrosion-resistant material and has good wear resistance when cooperating with the aluminum-made track 5.
[0027] The pressure wheel assembly 4 is arranged between the substrate 1 and the fixed bracket 2 to push the fixed bracket 2, so as to keep the roller 21 always in rolling contact with the track 5. When the inspection robot moves, the roller 21 can move with it. The rotation angle of the roller 21 can be accurately detected by the rotary encoder 3, so as to calculate the running distance of the inspection robot. Through the pressure wheel assembly 4, the roller 21 can always be in rolling contact with the track 5, so as to ensure that the running of the roller 21 is consistent with the actual running distance of the track 5 robot, and improve the detection accuracy of the rotary encoder 3. Thus, the inspection robot can accurately stop at the designated position for inspection; provide accurate position data for the inspection robot.
[0028] In some practical applications, such as Figure 1 , Figure 3 and Figure 4 shown, the pressure wheel assembly 4 includes a pressure spring plate 41, a support 42 and a spring 43.
[0029] The pressure spring plate 41 is fixedly installed on the substrate 1; the support 42 is fixedly installed on the fixed bracket 2; specifically, the pressure spring plate 41 can be fixed on the substrate 1 by high-strength bolts to ensure the firm and reliable connection between the pressure spring plate 41 and the substrate 1. The support 42 can be fixed on the fixed bracket 2 by welding to ensure the stability of the support 42.
[0030] Both ends of the spring 43 are respectively installed on the pressure spring plate 41 and the support 42, and the support 42 is elastically supported by the spring 43 so that the roller 21 elastically abuts against the track 5. Specifically, a first positioning post 411 is provided on one side of the pressure spring plate 41 close to the support 42, and a second positioning post 421 is provided on one side of the support 42 close to the pressure spring plate 41. Both ends of the spring 43 are respectively sleeved into the first positioning post 411 and the second positioning post 421 in an interference fit manner. Since the pressure spring plate 41 is fixed relative to the substrate 1, under the elastic force of the spring 43, the roller 21 can be elastically supported on the track 5. This elastic support can enable the roller 21 to move stably on the track 5 and reduce the impact and vibration caused by the unevenness of the track 5.
[0031] In some practical applications, such as Figure 1 and Figure 3As shown, a shaft hole 22 is provided on the fixed bracket 2. At least one deep groove ball bearing 23 is installed in the shaft hole 22. A set screw 24 is also provided beside the shaft hole 22. The set screw 24 passes through the inner ring of the deep groove ball bearing 23 and is threadedly connected to the substrate 1. Since the set screw 24 has a smooth rod portion, it can be used as the rotating shaft of the entire fixed bracket 2, that is, the smooth rod portion is located at the inner ring of the deep groove ball bearing 23, realizing the rotational connection between the fixed bracket 2 and the substrate 1. By providing one deep groove ball bearing 23, the rotational resistance of the fixed bracket 2 can be reduced, ensuring that the spring 43 can always press the roller 21 against the track 5. At the same time, the low-resistance design allows the roller 21 to quickly respond to the height difference of the track 5 joints, always keeping the roller 21 close to the track 5.
[0032] In addition, for the installation of the above deep groove ball bearing 23, a bearing gland 25 fixedly connected to the fixed bracket 2 is also provided at the outer end of the shaft hole 22 to achieve axial limit of the deep groove ball bearing 23.
[0033] In some practical applications, such as Figure 1 and Figure 5 As shown, a boss bearing fixing ring 26 (a standard part of the prior art, that is, a structure similar to a bearing and having a boss on the outer surface for axial limit of the shaft) is installed on the fixed bracket 2 to limit the axial movement of the roller 21. The rotating shaft of the rotary encoder 3 is coaxially and fixedly connected to the rotating shaft of the roller 21. Specifically, as Figure 1 shown, one side of the fixed bracket 2 away from its rotating end has a horizontally extending cross plate 27 and a side plate 28 extending downward from one side of the cross plate 27. The side plate 28 is parallel to the main body of the fixed bracket 2 and has an installation space. The rotating shaft of the roller 21 is rotatably installed on the side plate 28. The boss bearing fixing ring 26 is coaxially installed on the rotating shaft of the roller 21 and is located in the installation space. The boss bearing fixing ring 26 is limited by the main body of the fixed bracket 2 and the side plate 28 (the boss bearing fixing ring can also be directly fixedly connected to the fixed bracket. Due to the characteristics of the boss bearing fixing ring, the rotating shaft of the roller is allowed to rotate inside it), and the rotating shaft of the rotary encoder 3 is directly coaxially and fixedly connected to the rotating shaft of the roller 21. Therefore, the boss bearing fixing ring 26 limits the axial movement of the roller 21, ensuring the movement of the roller 21 on the track 5.
[0034] In summary, the distance recording device is installed on the steering mechanism of the inspection robot through the fixing block. When the distance recording device moves on the track 5 with the inspection robot, it drives the roller 21 to rotate, and the high-precision rotary encoder 3 records the pulse data. Through a specific formula, the pulse data is converted into the moving distance of the inspection robot.
[0035] The above are only embodiments of the present utility model and are not intended to limit the present utility model. For those skilled in the art, various modifications and variations can be made to the present utility model. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model shall be included within the scope of the claims of the present utility model.
Claims
1. A high-precision inspection robot running distance recording device is installed on the steering mechanism of the inspection robot, and is characterized in that Comprising: A substrate (1), fixedly mounted on a steering mechanism; A fixed bracket (2), on which a roller (21) is rotatably connected, and the fixed bracket (2) is rotatably connected to the substrate (1) to adjust the position of the roller (21); A rotary encoder (3), mounted on the fixed bracket (2) and mechanically coupled to the roller (21); A pressure wheel assembly (4), arranged between the substrate (1) and the fixed bracket (2) to push the fixed bracket (2), so as to keep the roller (21) always in rolling contact with the track.
2. The running distance recording device of a high-precision inspection robot according to claim 1, characterized in that, The rolling direction of the roller (21) is the same as the moving direction of the inspection robot.
3. The high-precision inspection robot running distance recording device according to claim 1, characterized in that, The pressure wheel assembly (4) includes: A pressure spring plate (41), fixedly mounted on the substrate (1); A support (42), fixedly mounted on the fixed bracket (2); A spring (43), the two end parts of which are respectively mounted on the pressure spring plate (41) and the support (42), and the support (42) is elastically supported by the spring (43) so that the roller (21) elastically abuts against the track.
4. The running distance recording device of a high-precision patrol robot according to claim 3, characterized in that On one side of the pressure spring plate (41) close to the support (42), a first positioning post (411) is provided. On one side of the support (42) close to the pressure spring plate (41), a second positioning post (421) is provided. The two ends of the spring (43) are respectively sleeved into the first positioning post (411) and the second positioning post (421) in an interference fit manner.
5. A high-precision inspection robot running distance recording device according to claim 1, characterized in that, On the fixed bracket (2), a shaft hole (22) is provided, and at least one deep groove ball bearing (23) is installed in the shaft hole (22). A set screw (24) is also provided beside the shaft hole (22), and the set screw (24) passes through the inner ring of the deep groove ball bearing (23) and is threadedly connected to the substrate (1).
6. The running distance recording device of a high-precision inspection robot according to claim 5, characterized in that, At the outer end of the shaft hole (22), a bearing gland (25) fixedly connected to the fixed bracket (2) is provided to achieve axial limit of the deep groove ball bearing (23).
7. The running distance recording device of a high-precision inspection robot according to claim 1, characterized in that A boss bearing fixing ring (26) is mounted on the fixed bracket (2) to limit the axial movement of the roller (21), and the rotating shaft of the rotary encoder (3) is coaxially and fixedly connected to the rotating shaft of the roller (21).