Force feedback control device for wheel-foot type subway bottom inspection robot mechanical arm

Abstract

The utility model discloses a wheel foot formula subway bottom inspection robot mechanical arm's force feedback control device, including mechanical arm body, the mechanical arm body one end is provided with the installation mechanism for installing detection equipment, the installation mechanism includes connecting ring, card slot, movable ball, damping telescopic link, fixed layer, mounting seat, the mechanical arm one end fixedly arranged with connecting ring, the mechanical arm one end surface is set up with the card slot in the connecting ring inside, the movable ball is hingedly arranged in the card slot inside, the movable ball surface fixedly arranged with damping telescopic link, the fixed ring surface fixedly arranged with fixed layer. The utility model is in view of robot mechanical arm, and the installation position of end detection equipment is provided with force feedback device, only if the end detection equipment is extruded, and the extrusion in any direction, will produce an electric signal, to make this device can stop in time, prevent unnecessary damage.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, specifically a force feedback control device for a wheeled subway bottom inspection robot arm. Background Technology

[0002] As a vital component of urban public transportation, the safe operation of subways is of paramount importance. The subway's undercarriage structure is complex, containing numerous critical components such as bogies, bolts, and track connectors. The condition of these components directly impacts the subway's operational safety. Traditional methods of inspecting the subway's undercarriage primarily rely on manual inspections, which are inefficient, labor-intensive, and prone to omissions due to human error.

[0003] With the development of robotics technology, subway undercarriage inspection robots have gradually become a research hotspot. However, existing subway undercarriage inspection robots suffer from the following problems with their robotic arms. In existing technologies, the end-effectors of these robots, such as cameras, lack a force feedback structure. When performing inspections, if the camera extends into the pipeline area under the train, it may squeeze the pipelines. If this squeezed area is in a blind spot, workers will be unable to detect any abnormalities, potentially leading to damage to the inspection equipment or the subway vehicle's pipelines. Therefore, a force feedback control device for a wheeled subway undercarriage inspection robot robotic arm is needed to address this issue. Utility Model Content

[0004] The purpose of this invention is to provide a force feedback control device for a wheeled, footed, subway bottom inspection robot arm to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a force feedback control device for a wheeled subway bottom inspection robot arm, comprising a robot arm body, one end of which is provided with an installation mechanism for mounting inspection equipment, the installation mechanism comprising a connecting ring, a slot, a movable ball, a damping telescopic rod, a fixing layer, and a mounting base, wherein a connecting ring is fixedly provided at one end of the robot arm, a slot is formed inside the connecting ring on the surface of one end of the robot arm, a movable ball is movably engaged inside the slot, a damping telescopic rod is fixedly provided on the surface of the movable ball, a fixing layer is fixedly provided on the surface of the connecting ring, the movable end of the damping telescopic rod is fixedly connected to the fixing layer, and a mounting base is fixedly provided on the outer surface of the fixing layer.

[0006] Preferably, a strain gauge wire is provided inside the fixing layer. The strain gauge wire is electrically connected to the control terminal. When the fixing layer deforms, it will cause the strain gauge wire to deform as well. When the strain gauge wire deforms, it will generate a change in resistance. At this time, the control terminal monitors this resistance change in real time. When the resistance change exceeds the threshold range, it can control the robotic arm to stop working and return along the original path. The narrower the threshold change range is designed, the more sensitive the trigger protection will be, and vice versa.

[0007] Preferably, the mounting base has mounting holes on its surface, which allow for easy fixing and connection of detection tools such as cameras to the robotic arm body.

[0008] Preferably, the fixing layer is made of elastic rubber material. When the installed detection device is squeezed or impacted, the fixing layer can deform accordingly, thereby causing the strain gauge wires inside to deform and thus generating a change in resistance. At the same time, the rubber material also has a certain support capacity to prevent false alarms caused by deformation of the fixing layer due to the weight of the installed detection device, such as a camera.

[0009] Preferably, the damping telescopic rod is equipped with damping oil. The damping telescopic rod of this device is the damping cylinder commonly used in automobiles and electric vehicles in the prior art, which is used to filter out small vibrations and prevent the spring from shaking and vibrating continuously with slight vibrations.

[0010] Preferably, a spring is sleeved on the outer surface of the damping telescopic rod. When the telescopic rod is compressed and contracted, the spring, together with the fixing layer of elastic rubber, can automatically drive the damping telescopic rod to automatically reset.

[0011] Compared with the prior art, the beneficial effects of this utility model are: 1. The installation mechanism of this utility model can quickly generate an electrical signal when the detection equipment at the end of the robotic arm is squeezed, so that the robotic arm stops working and returns along the original path, effectively preventing the detection equipment and subway vehicle pipelines from being damaged by collision and squeezing, reducing maintenance costs and safety risks.

[0012] 2. This utility model uses a damping telescopic rod in conjunction with a movable ball head to ensure that the fixed layer deforms when the detection device at the end of the robotic arm is squeezed in any direction, thus triggering an alarm. As a result, this device has a large detection range and good performance. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the overall structure of the force feedback control device of the wheeled subway bottom inspection robot arm of this utility model; Figure 2This is a cross-sectional view of the force feedback control device of the wheeled-legged subway bottom inspection robot arm of this utility model. Figure 3 This utility model relates to a force feedback control device for a wheeled, legged, subway bottom inspection robot arm. Figure 2 Enlarged view of point A in the middle; Figure 4 This is a disassembled view of the movable sphere in the force feedback control device of the wheeled subway bottom inspection robot arm of this utility model; Figure 5 This is an installation view of the strain gauge wire in the force feedback control device of the wheel-footed subway bottom inspection robot arm of this utility model; Figure 6 This is an installation view of the movable ball and damping telescopic rod in the force feedback control device of the wheel-footed subway bottom inspection robot arm of this utility model.

[0014] In the diagram: 1. Robotic arm body; 2. Mounting mechanism; 3. Connecting ring; 4. Slot; 5. Movable ball; 6. Damping telescopic rod; 7. Fixing layer; 8. Mounting base; 9. Strain gauge wire; 10. Mounting hole; 11. Spring. Detailed Implementation

[0015] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0016] Please see Figure 1-5 This utility model provides a technical solution: a force feedback control device for a wheeled subway bottom inspection robot arm, comprising a robot arm body 1. One end of the robot arm body 1 is provided with a mounting mechanism 2 for mounting inspection equipment. The mounting mechanism 2 includes a connecting ring 3, a slot 4, a movable ball 5, a damping telescopic rod 6, a fixing layer 7, and a mounting base 8. The connecting ring 3 is fixedly disposed at one end of the robot arm, providing a basic framework for the installation and movement of the movable ball 5. The slot 4 is formed on the surface of one end of the robot arm and located inside the connecting ring 3, used to engage the movable ball 5, allowing the movable ball 5 to rotate freely within a certain range to adapt to different directional force conditions.

[0017] The movable sphere 5 is engaged inside the slot 4 and can rotate in multiple directions around its own center, which can flexibly transmit the force from the detection equipment.

[0018] One end of the damping telescopic rod 6 is fixedly mounted on the surface of the movable sphere 5, and damping oil is installed inside. This damping telescopic rod 6 draws on the principle of damping cylinders commonly used in automobiles and electric vehicles, and is used to filter out minor vibrations and prevent frequent shaking of the robotic arm due to slight vibrations. A spring 11 is sleeved on the outer surface of the damping telescopic rod 6. When the telescopic rod is compressed and contracted, the spring 11, together with the elastic rubber fixing layer 7, can automatically drive the damping telescopic rod 6 to automatically return to its original position.

[0019] The fixing layer 7 is made of elastic rubber material and is fixedly installed on the surface of the connecting ring 3, and is fixedly connected to the movable end of the damping telescopic rod 6. The elastic rubber material has the following advantages: when the installed detection device is squeezed or impacted, it can deform accordingly, thereby causing the internal strain gauge wire 9 to deform and generate a change in resistance. It also has a certain supporting capacity, preventing false alarms caused by the deformation of the fixing layer 7 due to the weight of the installed detection equipment (such as a camera). The mounting base 8 is fixedly installed on the outer surface of the fixing layer 7, and its surface has mounting holes 10. Through the mounting holes 10 and the mounting base 8, detection tools such as cameras can be easily fixedly connected to the robotic arm body 1.

[0020] A strain gauge wire 9 is installed inside the fixed layer 7, and the strain gauge wire 9 is electrically connected to the control terminal. When the fixed layer 7 is deformed by the compressive force transmitted by the detection device, it will cause the strain gauge wire 9 to deform as well. When the strain gauge wire 9 deforms, it will generate a change in resistance, which the control terminal monitors in real time. When the change in resistance exceeds a preset threshold range, the control terminal will promptly control the robotic arm body 1 to stop working and return it to its original path. The narrower this threshold range is designed, the more sensitive the trigger protection will be; conversely, it will be less sensitive. It can be flexibly adjusted according to actual usage requirements.

[0021] Working principle: The camera and other detection tools are fixedly installed on the mounting base 8 through the mounting hole 10. The robot is started and the robotic arm drives the detection equipment to detect the bottom of the subway.

[0022] Force detection: When the testing equipment is subjected to pressure in any direction during the testing process, the pressure is transmitted to the fixed layer 7 through the mounting base 8, causing the fixed layer 7 to deform. For example, horizontal pressure will cause the damping telescopic rod 6 to contract, and vertical or other pressure will cause the movable ball 5 to rotate and tilt, thereby causing the fixed layer 7 to deform accordingly.

[0023] Resistance change: Deformation of the fixed layer 7 causes deformation of the internal strain gauge wire 9, resulting in a change in the resistance of the strain gauge wire 9.

[0024] Signal transmission and control: The control terminal monitors the resistance change of the strain gauge wire 9 in real time. When the resistance change exceeds the set threshold range, the control terminal immediately sends a control signal to stop the robotic arm and control it to return along the original path, thereby avoiding damage to the detection equipment and subway vehicle pipelines due to collision and compression.

[0025] Automatic reset: When the force on the detection equipment is released, the spring 11 on the outside of the damping telescopic rod 6 cooperates with the elastic rubber fixing layer 7 to automatically drive the damping telescopic rod 6 to reset, so that the robotic arm returns to the initial state and waits for the next detection command.

[0026] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0027] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A force feedback control device for a wheeled subway bottom inspection robot arm, comprising a robot arm body (1), characterized in that: The robotic arm body (1) is provided with an installation mechanism (2) for installing detection equipment at one end. The installation mechanism (2) includes a connecting ring (3), a slot (4), a movable ball (5), a damping telescopic rod (6), a fixing layer (7), and a mounting base (8). The connecting ring (3) is fixedly provided at one end of the robotic arm. A slot (4) is opened inside the connecting ring (3) on the surface of one end of the robotic arm. A movable ball (5) is movably engaged inside the slot (4). A damping telescopic rod (6) is fixedly provided on the surface of the movable ball (5). A fixing layer (7) is fixedly provided on the surface of the connecting ring (3). The movable end of the damping telescopic rod (6) is fixedly connected to the fixing layer (7). A mounting base (8) is fixedly provided on the outer surface of the fixing layer (7).

2. The force feedback control device for the wheeled subway bottom inspection robot arm according to claim 1, characterized in that: The fixed layer (7) is provided with strain gauge wires (9), which are electrically connected to the control terminal.

3. The force feedback control device for the wheeled-legged subway bottom inspection robot arm according to claim 1, characterized in that: The mounting base (8) has mounting holes (10) on its surface.

4. The force feedback control device for the wheeled-legged subway bottom inspection robot arm according to claim 1, characterized in that: The fixing layer (7) is made of elastic rubber material.

5. The force feedback control device for the wheeled-legged subway bottom inspection robot arm according to claim 1, characterized in that: The damping telescopic rod (6) is equipped with damping oil inside.

6. The force feedback control device for the wheeled-legged subway bottom inspection robot arm according to claim 1, characterized in that: A spring (11) is fitted on the outer surface of the damping telescopic rod (6).

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