A hanging rail type intelligent fire-fighting inspection robot

Abstract

The present application relates to a kind of hanging rail type intelligent fire-fighting inspection robot, including lightweight aluminum alloy multistage assembly track, inspection robot and foldable mounting rack, adjacent track section is supported and fixed by track installation platform. Matching quick mounting mechanism and quick mounting seat are arranged between track section and installation platform, realize quick disassembly and assembly;With fine adjustment sliding slot, the installation position can be fine adjusted, to ensure that track is accurately connected. The mounting rack adopts hinged folding structure, which is convenient for storage and transportation. When working, self-locking stability is realized through clamping structure and supporting pin. Drive wheel assembly is provided on the top of the robot, which is tightly fitted to the bottom surface of the track by relying on torsional spring, to ensure stable driving. The side hanging wheels can be adjusted by opening and closing through bidirectional threaded rods, which is convenient for equipment installation on the track. The two sides of the robot prevent the convex rod from falling into the hanging wheel sliding groove, effectively preventing the equipment from falling due to damage to the hanging wheel structure. The overall structure is convenient to disassemble and assemble, safe, and suitable for mobile installation and inspection scene in construction site.

Description

Technical Field

[0001] This invention relates to the field of fire inspection technology, specifically to a rail-mounted intelligent fire inspection robot. Background Technology

[0002] During the foundation installation phase of the building, multiple overlapping construction operations are involved, including air conditioning, electrical, electromechanical equipment, and cable laying. The construction environment is complex, and the work procedures are intricate, presenting numerous fire safety hazards and non-standard operating procedures, making fire safety management extremely difficult. Specifically, the high-temperature sparks generated by welding operations can easily ignite flammable building materials such as insulation boards, cable sheaths, and finishing materials stored on the construction site, causing fires. Furthermore, on-site construction workers generally have weak safety awareness and engage in non-standard operating procedures, frequently failing to wear safety helmets, engaging in unauthorized hot work, and performing disorderly operations. These not only violate on-site safety management regulations but also increase the risk of safety accidents on the construction site.

[0003] Currently, fire safety inspections at construction sites mainly rely on manual inspections. This method is inefficient, subjective, and difficult to achieve 24 / 7, all-round real-time monitoring. Although some construction sites are equipped with ceiling-mounted surveillance cameras, these are fixed-point monitoring devices with limited coverage and numerous blind spots, making them unsuitable for the complex and ever-changing construction site environment.

[0004] Currently, both rail-mounted and ground-mobile inspection robots have been gradually applied to inspection work in scenarios such as power supply and distribution and chemical industry. However, the applicability of these two types of equipment in the construction field is extremely poor, and their adoption rate is very low. Among them, ground-mobile inspection robots are severely restricted in their passage and inspection operations due to factors such as the messy stacking of construction equipment and materials at the construction site. Rail-mounted inspection robots typically have their tracks installed and fixed by multiple ceiling brackets and screws, making the installation operation complex. Moreover, once the tracks are installed, they are not easy to disassemble and move, making them unsuitable for situations such as building foundation installation where they need to be moved along with the construction site. In existing technologies, the positions of the inspection robot's wheels are fixed, so the upper rail installation must be carried out before the installation of the last section of the track. However, due to the influence of the inspection robot's gravity, the track is prone to slight deformation, which affects the precise docking and installation of the track. The final installed track docking accuracy is insufficient, thus affecting the smoothness of the inspection robot's movement.

[0005] This invention proposes a rail-mounted intelligent fire inspection robot that is easy to install and disassemble, adaptable to complex construction scenarios, and capable of all-weather operation without blind spots, in order to solve many shortcomings of existing technologies. Summary of the Invention

[0006] The purpose of this invention is to overcome the above-mentioned technical defects and provide a rail-mounted intelligent fire inspection robot.

[0007] To achieve the above objectives, the present invention adopts the following technical solution: a rail-mounted intelligent fire inspection robot, comprising a rail, an inspection robot movable on the rail, and a mounting frame for fixing the rail. The rail is made of lightweight aluminum alloy and has a multi-segment assembly structure, including multiple rail segments. The mounting frame is a foldable structure, with its bottom supported on the ground and its top equipped with a rail mounting platform. The ends of two adjacent rail segments are supported by the same rail mounting platform. Both ends of the rail mounting platform are equipped with quick-installation mechanisms, and the tops of both ends of the rail segments are equipped with quick-installation seats. The quick-installation mechanism includes an inverted U-shaped seat, a fixing pin, and a quick-installation spring. The U-shaped seat has fixing pin holes on its opposite side walls, allowing for internal sliding. A fixing pin is provided, with a handle at one end of the fixing pin. A quick-release spring is sleeved on the outside of the fixing pin, and both ends are fixedly connected to the handle and the outer wall of the U-shaped seat, respectively. The quick-release seat is an inverted T-shaped structure, with its horizontal part fixedly installed on the top of the track and its vertical part having a docking pin hole. The docking pin hole is aligned with the fixing pin hole, and the fixing pin passes through it. A drive wheel assembly is provided at the middle of the top of the inspection robot. The drive wheel assembly includes a drive wheel, which is in contact with the bottom surface of the track to achieve drive. The front and rear sides of the top of the inspection robot are provided with a hanging wheel mounting bracket, on which two hanging wheels are installed. The opposite side walls of the track are provided with hanging wheel grooves. The hanging wheels are slidably mounted on the hanging wheel mounting bracket and can extend into the hanging wheel grooves.

[0008] Furthermore, the mounting frame includes a base, an upright, and a horizontal top rod. The top of the upright has fan-shaped plates on both sides. The horizontal top rod is hinged to the top of the upright and rotatably disposed between the two fan-shaped plates. The fan-shaped plates have arc-shaped grooves, and the top of the arc-shaped grooves has a horizontal locking area. The horizontal top rod has a through-hole groove, and a locking member is slidably disposed inside it. The two ends of the locking member extend out of the through-hole groove and are slidably disposed in the arc-shaped groove. A locking spring is provided on one side of the locking member, and the two ends of the locking spring are respectively connected to the locking member and one end of the through-hole groove.

[0009] Furthermore, each end of the track segment is provided with a plug-in block and a plug-in slot, and two adjacent track segments are engaged by the plug-in block and the plug-in slot.

[0010] Furthermore, the track mounting platform is provided with fine-tuning grooves at both ends, and a slider is fixedly provided on the top of the U-shaped seat. The slider is slidably disposed in the fine-tuning groove. A sliding seat is fixedly installed on the top of the slider. The sliding seat is an inverted U-shaped structure, and a quick-locking mechanism is provided on its opposite side walls.

[0011] Furthermore, the quick-locking mechanism includes a telescopic clamping block and an elliptical top block. The sliding seat has a telescopic groove on its side wall, the telescopic clamping block is slidably disposed in the telescopic groove, the elliptical top block is rotatably disposed at the inner end of the telescopic groove, and a lever is fixedly disposed on its side wall. The sliding seat has a lever hole on its side wall, and the lever can be rotated in the lever hole by moving the lever. The inner end of the telescopic groove has spring telescopic cylindrical heads on opposite side walls, and the elliptical top block has corresponding positioning grooves on its side walls. The ends of the spring telescopic cylindrical heads can spring into the positioning grooves.

[0012] Furthermore, the drive wheel assembly also includes a drive wheel bracket and a drive motor. The inspection robot has a hinge seat on its top, the drive wheel bracket is rotatably mounted inside the hinge seat, and the drive wheel is rotatably mounted at the end of the drive wheel bracket away from the hinge seat. The drive motor is fixed on the drive wheel bracket, and its output shaft is connected to the drive wheel. A torsion spring is provided between the hinge seat and the drive wheel bracket, with both ends of the torsion spring engaging with the inner walls of the drive wheel bracket and the hinge seat respectively, providing an upward rotational force to the drive wheel bracket, causing the drive wheel to press tightly against the track. The drive wheel bracket also has a retractable clamping rod inside, which includes a threaded sleeve and a threaded rod, which are threadedly connected. The top of the inspection robot also has a clamping groove, with the end of the clamping rod away from the drive wheel bracket extending into the clamping groove.

[0013] Furthermore, the top of the roller mounting bracket is provided with a track groove and an adjustment groove perpendicular to the track groove. A bidirectional threaded rod is rotatably provided at the bottom of the adjustment groove. Two roller brackets are slidably provided in the adjustment groove. The rollers are rotatably provided on the inner side of the top of the roller brackets. The roller brackets are symmetrically distributed along the track groove and are threadedly connected to the bidirectional threaded rod.

[0014] Furthermore, the longitudinal section of the adjustment groove is a cross-shaped structure, and the pulley frame matches it; an anti-loosening spring is also provided in the adjustment groove, the anti-loosening spring is located between the pulley frame and the end wall of the adjustment groove, and abuts against both; the anti-loosening spring is sleeved on the bidirectional threaded rod.

[0015] Furthermore, the hanging wheel frame is rotatably mounted on the inspection robot. The top of the inspection robot housing is provided with a through hole, and a seated bearing is installed in the through hole. The bottom of the hanging wheel frame is provided with a rotating shaft, which passes through the seated bearing and extends into the inspection robot housing, and an anti-detachment plate is installed and fixed thereon. The bottom wall of the seated bearing is smooth and has multiple graphite lubricating blocks embedded therein. The top surface of the anti-detachment plate is in contact with the graphite lubricating blocks.

[0016] Furthermore, the inspection robot is equipped with two supports in the middle of both sides. Anti-drop protrusion rods are detachably installed on the opposite side of the supports, and the anti-drop protrusion rods extend into the grooves of the hanging wheels.

[0017] The beneficial effects of this invention are as follows: The track of this invention adopts a modular structure of multiple track segments spliced ​​together, and the mounting frame adopts a foldable structure, which is convenient for movement and handling, and is suitable for occasions such as building foundation installation construction, which involves moving the track along with the construction floors; at the same time, the track is made of lightweight aluminum alloy, which significantly reduces the weight of the track and reduces the load on the top installation while ensuring the overall structural strength and the stable movement of the inspection robot.

[0018] This invention enables rapid connection and installation between the track section end and the track mounting platform on the mounting frame via a quick-connect mechanism and quick-connect seat. Operators only need to pull a handle to quickly assemble and disassemble the track section and mounting platform, eliminating the need for complex tools. This significantly reduces the difficulty of track installation, disassembly, and movement, improving construction and maintenance efficiency. The track mounting platform also features a fine-tuning groove, allowing the quick-connect mechanism to be slid and fine-tuned via a slider to accommodate minor deviations in the mounting frame's placement, facilitating the insertion and installation of adjacent track sections.

[0019] This invention's mounting frame, through the hinged design of the uprights, fan-shaped plates, and horizontal top rods, allows for folding and storage, significantly reducing the volume required for equipment transport and storage, facilitating handling. In operation, a snap-fit ​​spring pushes the snap-fit ​​component to engage with the horizontal snap-fit ​​area. Combined with the limiting support of the support pins, this locks and stabilizes the horizontal top rod, preventing rotation, loosening, or displacement under stress, ensuring the levelness and stability of the track-mounted platform. Furthermore, the support pins are equipped with connecting chains to prevent loss or detachment, improving equipment reliability.

[0020] This invention features a quick-locking mechanism on both sides of the sliding seat. Through the cooperative structure of the elliptical top block, telescopic clamping block, spring-loaded telescopic cylindrical head, and positioning groove, rapid locking can be achieved after fine-tuning of the quick-release mechanism. After locking, the spring-loaded telescopic cylindrical head elastically engages with the positioning groove of the spherical structure, forming a double-limit self-locking mechanism. This effectively resists vibrations generated during robot movement, preventing the elliptical top block from rotating under vibration and thus avoiding displacement of the sliding seat, ensuring the stability of the lock.

[0021] The drive wheel assembly at the top of the inspection robot of this invention is hinged to the drive wheel bracket via a hinged seat and rotatably mounted at the bottom of the track. The hanging wheel is driven by a bidirectional threaded rod to achieve symmetrical opening and closing, which facilitates the installation of the inspection robot and allows it to be mounted on the track after it has been fully installed, simplifying the installation process. The drive wheel bracket is connected to the hinged seat via a torsion spring, which continuously provides an upward clamping force to the drive wheel bracket, ensuring that the drive wheel is always in close contact with the bottom surface of the track. This facilitates the fixing of the drive wheel after the inspection robot is mounted on the track, ensuring that the drive wheel is in close contact with the bottom of the track, thereby achieving drive.

[0022] The present invention has a rotating mounting bracket at both ends of the top of the inspection robot, which facilitates the turning of the inspection robot. During the turning process, the mounting bracket can make adaptive angle adjustments to make the turning smoother and avoid jamming.

[0023] The inspection robot of this invention has detachable anti-drop protrusions installed on both sides by brackets. The anti-drop protrusions extend into the sliding groove of the hanging wheel to form redundant limit protection, so as to avoid deformation or breakage of the hanging wheel axle after long-term use, which would cause the inspection robot to fall and be damaged. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the overall structure of a rail-mounted intelligent fire inspection robot according to the present invention; Figure 2 This is a schematic diagram of the track segment in this invention; Figure 3 This is a schematic diagram of the mounting bracket in this invention; Figure 4 This is an exploded view of the mounting bracket in this invention; Figure 5 This is a schematic diagram of the sliding seat in the perspective view of the present invention; Figure 6 This is an exploded view of the sliding seat in this invention; Figure 7 This is a schematic diagram of the inspection robot in this invention; Figure 8 This is an exploded view of the inspection robot in this invention; Figure 9 This is a schematic diagram of the structure of the hanging wheel mounting bracket in this invention; Figure 10 The explosion of the hanging wheel mounting bracket in this invention Figure 1 ; Figure 11 The explosion of the hanging wheel mounting bracket in this invention Figure 2 ; Figure 12 This is a schematic diagram of the quick-release base in this invention.

[0025] 1. Track; 1.1 Track section; 1.2 Plug-in block; 1.3 Plug-in slot; 2. Inspection robot; 2.1 Hinge seat; 2.2 Clamping groove; 2.3 Through hole; 3. Mounting frame; 3.1 Base; 3.2 Upright pole; 3.3 Top rod; 3.4 Fan-shaped plate; 3.5 Arc-shaped slide groove; 3.6 Horizontal snap-fit ​​area; 3.7 Through hole slide groove; 3.8 Pin hole; 4. Track mounting platform; 4.1 Fine-tuning slide groove; 5. Quick-release mechanism; 5.1 U-shaped seat; 5.2 Fixing pin; 5.3 Quick-release spring; 5.4 Fixing pin hole; 5.5 Pull handle; 5.6 Slider; 5.7 Sliding seat; 5.8 Telescopic groove; 5.9 Pull hole; 6. Quick-release seat; 6.1 Connecting pin hole; 7. Drive wheel assembly; 7.1 Drive wheel; 7. 2. Drive wheel bracket; 7.3. Drive motor; 7.4. Torsion spring; 7.5. Clamping rod; 7.51. Threaded sleeve; 7.52. Threaded rod; 8. Roller mounting bracket; 8.1. Track groove; 8.2. Adjustment groove; 8.3. Double-sided threaded rod; 8.4. Roller bracket; 8.5. Anti-loosening spring; 9. Roller; 10. Roller slide groove; 11. Snap-fit ​​component; 12. Snap-fit ​​spring; 13. Support pin; 14. Quick locking mechanism; 14.1. Telescopic clamp; 14.2. Elliptical top block; 14.3. Pulley; 14.4. Positioning groove; 15. Spring telescopic cylindrical head; 15.1. Telescopic cylinder; 15.2. Return spring; 16. Bearing with seat; 17. Rotating shaft; 18. Anti-detachment plate; 19. Graphite lubricating block; 20. Bracket; 21. Anti-drop protrusion rod. Detailed Implementation

[0026] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention are within the scope of protection of the present invention.

[0027] Embodiments of the present invention: such as Figure 1 , 2 As shown in Figure 12, a rail-mounted intelligent fire inspection robot includes a rail 1, an inspection robot 2 that is movable on the rail 1, and a mounting frame 3 for fixing the rail 1. The rail 1 is made of lightweight aluminum alloy and has a multi-segment assembly structure, including multiple rail segments 1.1. Specifically, each end of a rail segment 1.1 is provided with a plug-in block 1.2 and a plug-in slot 1.3. Adjacent rail segments 1.1 are engaged by the plug-in block 1.2 and the plug-in slot 1.3. The multiple rail segments 1.1 are assembled and spliced ​​by plugging, which facilitates quick loading and unloading and easy handling.

[0028] like Figure 3 , 4As shown, the mounting frame 3 is a foldable structure. Specifically, the mounting frame 3 includes a base 3.1, an upright 3.2, and a top rod 3.3. The upright 3.2 has fan-shaped plates 3.4 on both sides of its top. The top rod 3.3 is hinged to the top of the upright 3.2 and rotatably positioned between the two fan-shaped plates 3.4. The fan-shaped plates 3.4 have arc-shaped grooves 3.5, and the top of the arc-shaped grooves 3.5 has a horizontal locking area 3.6. The top rod 3.3 has a through-hole groove 3.7, inside which a locking member 11 is slidably mounted. Both ends of the locking member 11 extend into the through-hole groove. 3.7 is externally located and slidably positioned within the arc-shaped groove 3.5. A snap-fit ​​spring 12 is provided on one side of the snap-fit ​​component 11. Both ends of the snap-fit ​​spring 12 are connected to one end of the snap-fit ​​component 11 and one end of the through-hole groove 3.7, respectively. The snap-fit ​​spring 12 pushes the snap-fit ​​component 11 to move, causing its end to snap into the horizontal snap-fit ​​area 3.6. A pin hole 3.8 is also provided on the sector plate 3.4, into which a support pin 13 is inserted. The top rod 3.3 overlaps the support pin 13. One end of the support pin 13 is provided with a connecting chain, and the other end of the connecting chain is fixed to a sector plate 3.4. It is worth noting that the portion of the snap-fit ​​component 11 located within the arc-shaped groove 3.7 has a cylindrical structure, with its side tangent to the inner wall of the arc-shaped groove 3.7 for easy sliding. Both ends of the snap-fit ​​component 11 extend to the outside of the sector plate 3.4 and are connected to handles, facilitating the movement of the snap-fit ​​component 11 when folding the mounting frame 3.

[0029] When in use, the base 3.1 is placed on the ground. After the top rod 3.3 is rotated to a horizontal position, the spring force of the snap-fit ​​spring 12 pushes the snap-fit ​​piece 11 to move towards the horizontal snap-fit ​​area 3.6 to achieve snap-fit, so that the top rod 3.3 is in a horizontal position. The support pin 13 is inserted into the pin hole 3.8 to enhance the support effect. The end of the top rod 3.3 away from the upright 3.2 is equipped with a track mounting platform 4 for installing and fixing the ends of the two adjacent track sections 1.1. When transporting, the support pin 13 is removed, and the snap-fit ​​piece 11 is moved towards the end away from the horizontal snap-fit ​​area 3.6 (moved by the handle) so that it can enter the arc-shaped slide groove 3.5. Then, the top rod 3.3 is rotated downward to achieve folding.

[0030] like Figure 3 , 4As shown in Figure 12, the track mounting platform 4 is equipped with quick-installation mechanisms 5 at both ends, and quick-installation seats 6 are correspondingly provided at the top of both ends of the track section. Specifically, the quick-installation mechanism 5 includes an inverted U-shaped seat 5.1, a fixing pin 5.2, and a quick-installation spring 5.3. The U-shaped seat 5.1 has fixing pin holes 5.4 on both opposite side walls, and the fixing pin 5.2 is slidably mounted inside. One end of the fixing pin 5.2 is provided with a pull handle 5.5. The quick-installation spring 5.3 is sleeved on the outside of the fixing pin 5.2, and both ends are fixedly connected to the pull handle 5.5 and the outer wall of the U-shaped seat 5.1, respectively. The quick-installation seat 6 is an inverted T-shaped structure. Its horizontal part is fixedly installed on the top of the track, and its vertical part is provided with a mating pin hole 6.1. The mating pin hole 6.1 is aligned with the fixing pin hole 5.4, and the fixing pin 5.2 passes through it.

[0031] During installation, pull handle 5.5 to disengage the retaining pin 5.2 from the retaining pin hole 5.4. Then, insert the vertical part of the quick-release bracket 6 into the opening of the U-shaped bracket 5.1. Release handle 5.5, and the quick-release spring 5.3 will drive the retaining pin 5.2 through the retaining pin hole 5.4 and the mating pin hole 6.1, achieving quick installation. During disassembly, pull handle 5.5 again to disengage the retaining pin 5.2 from the mating pin hole 6.1, and move the track section 1.1 downwards to achieve quick disassembly, effectively improving installation and relocation efficiency.

[0032] like Figure 4 As shown, the track mounting platform 4 has fine-tuning grooves 4.1 at both ends, and a slider 5.6 is fixedly mounted on the top of the U-shaped seat 5.1. The slider 5.6 is slidably positioned within the fine-tuning grooves 4.1, facilitating the insertion of adjacent track sections 1.1 and compensating for errors in the position of the mounting bracket 3, preventing gaps after installation of adjacent track sections 1.1, and ensuring support stability. A sliding seat 5.7 is fixedly mounted on the top of the slider 5.6. The sliding seat 5.7 is an inverted U-shaped structure, with quick-locking mechanisms 14 on its opposite side walls. Specifically, as... Figure 4 , 5As shown in Figure 6, the quick-locking mechanism 14 includes a telescopic clamping block 14.1 and an elliptical top block 14.2. The sliding seat 5.7 has a telescopic groove 5.8 on its side wall. The telescopic clamping block 14.1 is slidably disposed within the telescopic groove 5.8. The elliptical top block 14.2 is rotatably disposed within the inner end of the telescopic groove 5.8 (the inner end of the telescopic groove 5.8 is a circular cavity, and the elliptical top block 14.2 is rotatably disposed within the circular cavity) and abuts against the inner end of the telescopic clamping block 14.1. A lever 14.3 is fixedly disposed on the side wall of the elliptical top block 14.2. The sliding seat 5.7 has a lever hole 5.9 on its side wall. Leveraging the lever 14.3 allows it to rotate within the lever hole 5.9. The telescopic groove... 5.8 The inner end of the 5.8 is provided with spring telescopic cylindrical heads 15 on opposite side walls. The spring telescopic cylindrical head 15 includes a telescopic cylinder 15.1 and a return spring 15.2. The telescopic groove 5.8 is provided with a groove. One end of the return spring 15.2 and the telescopic cylinder 15.1 is located in the groove, and the telescopic cylinder 15.1 slides along the length of the groove. The part of the telescopic cylinder 15.1 extending out of the groove has a spherical structure. The elliptical top block 14.2 is provided with positioning grooves 14.4 on both side walls. The positioning grooves 14.4 have a spherical structure inside and match the outer end of the telescopic cylinder 15.1. The outer end of the telescopic cylinder 15.1 can spring into the positioning groove 14.4.

[0033] After the U-shaped seat 5.1 is moved into position, the lever 14.3 is moved so that the elliptical top block 14.2 rotates until its major axis is in the same direction as the telescopic clamp 14.1. At this point, the telescopic clamp 14.1 clamps the two side walls of the track mounting platform 4, achieving a lock. Simultaneously, the outer end of the telescopic cylinder 15.1 extends into the positioning groove 14.4, ensuring that the elliptical top block 14.2 will not rotate under the vibration generated by the movement of the inspection robot 2, thus ensuring the stability of the lock. When it is necessary to move the U-shaped seat 5.1, the lever 14.3 is moved in the opposite direction. Since the outer end of the telescopic cylinder 15.1 has a spherical structure, when the lever 14.3 is moved, the outer end of the telescopic cylinder 15.1 is squeezed by the side wall of the positioning groove 14.4 and retracts into the groove, thus unlocking.

[0034] like Figure 7 As shown, the inspection robot 2 has a wheel mounting frame 8 on the front and rear sides of the top, on which two wheels 9 are mounted. The track 1 has wheel grooves 10 on the opposite side walls. The wheels 9 are slidably mounted on the wheel mounting frame 8 and can extend into the wheel grooves 10.

[0035] like Figure 8-10As shown, specifically, the top of the wheel mounting bracket 8 is provided with a track groove 8.1 and an adjustment groove 8.2 perpendicular to the track groove. A bidirectional threaded rod 8.3 is rotatably provided at the bottom of the adjustment groove 8.2. Two wheel brackets 8.4 are slidably arranged within the adjustment groove 8.2. The wheel 9 is rotatably disposed on the inner side of the top of the wheel bracket 8.4. The wheel brackets 8.4 are symmetrically distributed along the track groove 8.1 and are threadedly connected to the bidirectional threaded rod 8.3. The bidirectional threaded rod 8.3 drives the wheel brackets 8.4 to open and close. It is worth noting that one end face of the bidirectional threaded rod 8.3 is flush with the side of the wheel mounting bracket 8, and the end of the bidirectional threaded rod 8.3 is provided with a hexagonal countersunk groove, allowing the bidirectional threaded rod 8.3 to be rotated using a hexagonal wrench.

[0036] By rotating the bidirectional threaded rod 8.3, the two hanging wheels 9 can be moved away from or closer to each other. When installing the inspection robot 2 on the upper rail, the bidirectional threaded rod 8.3 can be rotated on the ground to make the two hanging wheels 9 move away from each other. After lifting the inspection robot 2 and aligning the two hanging wheels 9 with the hanging wheel groove 10, the bidirectional threaded rod 8.3 can be rotated in the opposite direction to move the two hanging wheels 9 towards the middle and extend into the hanging wheel groove 10.

[0037] like Figure 9-11 As shown, the longitudinal section of the adjusting groove 8.2 is a cross-shaped structure, and the hanging wheel frame 8.4 matches it; the adjusting groove 8.2 is also provided with an anti-loosening spring 8.5, which is located between the hanging wheel frame 8.4 and the end wall of the adjusting groove 8.2 and abuts against both; the anti-loosening spring 8.5 is sleeved on the double-threaded rod 8.3. It is worth noting that when the anti-loosening spring 8.5 is in its initial state, the distance between the two hanging wheels 9 is the smallest.

[0038] The cross-shaped adjustment groove 8.2, in conjunction with the wheel bracket 8.4, distributes the force, preventing the entire weight of the inspection robot 2 from being applied to the bidirectional threaded rod 8.3, thus avoiding deformation of the bidirectional threaded rod 8.3. The anti-loosening spring 8.5 ensures that the wheel bracket 8.4 is always subjected to a pushing force towards the center, preventing vibration from causing the bidirectional threaded rod 8.3 to rotate and ultimately disengage the wheel 9 from the wheel slide groove 10.

[0039] like Figure 8 , 11 As shown, the hanging wheel mounting bracket 8 is rotatably mounted on the inspection robot 2. The top of the shell of the inspection robot 2 is provided with a through hole 2.3, and a seated bearing 16 is installed in the through hole 2.3. The bottom of the hanging wheel mounting bracket 8 is provided with a rotating shaft 17, which passes through the seated bearing 16 and extends into the shell of the inspection robot 2, and an anti-detachment plate 18 is installed and fixed thereon. The bottom wall of the seat of the seated bearing 16 is smooth and has multiple graphite lubricating blocks 19 embedded therein. The top surface of the anti-detachment plate 18 contacts the graphite lubricating blocks 19.

[0040] By making the wheel mounting bracket 8 rotatable, the wheel mounting bracket 8 can make adaptive angle adjustments when the inspection robot 2 turns, reducing the jamming phenomenon when the inspection robot 2 turns.

[0041] like Figure 7 , 8 As shown, the inspection robot 2 has a drive wheel assembly 7 at the top center position. The drive wheel assembly 7 includes a drive wheel 7.1, and the drive wheel 7.1 is in contact with the bottom surface of the track to achieve drive.

[0042] like Figure 8 As shown, specifically, the drive wheel assembly 7 further includes a drive wheel bracket 7.2 and a drive motor 7.3. The inspection robot 2 has a hinge seat 2.1 on its top. The drive wheel bracket 7.2 is rotatably mounted within the hinge seat 2.1. The drive wheel 7.1 is rotatably mounted at the end of the drive wheel bracket 7.2 away from the hinge seat 2.1. The drive motor 7.3 is fixed to the drive wheel bracket 7.2, and its output shaft is connected to the drive wheel 7.1. A space is provided between the hinge seat 2.1 and the drive wheel bracket 7.2. A torsion spring 7.4 is attached to the inner walls of the drive wheel bracket 7.2 and the hinge seat 2.1 at both ends, respectively, to provide an upward rotation force to the drive wheel bracket 7.2, so that the drive wheel 7.1 is pressed tightly against the track 1. The drive wheel bracket 7.2 is also provided with a telescopic abutment rod 7.5, which includes a threaded sleeve 7.51 and a threaded rod 7.52, which are threadedly connected. The top of the inspection robot 2 is also provided with an abutment groove 2.2, and the end of the abutment rod away from the drive wheel bracket extends into the abutment groove 2.2.

[0043] When the inspection robot 2 is installed, and the drive wheel 7.1 contacts the bottom surface of the track 1, and the inspection robot 2 continues to move upward until the hanging wheel 9 aligns with the hanging wheel groove 10, the torsion spring 7.4 deforms. The torsion spring 7.4 applies an upward rotational force to the drive wheel bracket 7.2, thereby making the drive wheel 7.1 tightly adhere to the bottom surface of the track 1. After the inspection robot 2 is hung on the track 1, the bottom of the clamping rod 7.5 is rotated to clamp the clamping groove 2.2, which ensures that the drive wheel 7.1 does not leave the track 1 and that the inspection robot 2 can move smoothly.

[0044] like Figure 8 As shown, the inspection robot 2 is provided with two brackets 20 in the middle of both sides. Anti-drop protrusion rods 21 are detachably installed on the opposite side of the brackets 20 and extend into the roller groove 10.

[0045] It is worth noting that the bracket 20 has an inverted L-shaped structure with mounting holes on its horizontal part. The anti-drop protrusions 21 are inserted into the mounting holes, and the ends of the two anti-drop protrusions 21 that are far apart from each other have external threads, while the ends of the mounting holes have corresponding internal threads, and the two are threaded together. When installing the inspection robot 2 on the upper rail by rotating the bidirectional threaded rod 8.3, the two anti-drop protrusions 21 can be installed first, and then the bidirectional threaded rod 8.3 can be rotated, so that the inspection robot 2 does not need to be pulled by force during the installation process.

[0046] It is worth noting that the inspection robot is equipped with a wirelessly rechargeable battery, and a wireless charging module is installed on one side of the track (which is existing technology and will not be described in detail here). During construction breaks (such as at night), the inspection robot can be charged.

[0047] When installing this invention, 1. Track Installation: Place the mounting frame 3 at each support point according to the track 1 layout diagram. Then, rotate the top rod 3.3 upwards to open and fix the mounting frame 3, preparing for the installation of track section 1.1. Lift track section 1.1, while checking the position of the mounting frame 3 to ensure that the quick-release seats 6 at both ends of track section 1.1 can enter the corresponding U-shaped seats 5.1. Lift track section 1.1 until the vertical part of the quick-release seat 6 is inserted into the U-shaped seat 5.1 (during the upward movement, the quick-release seat 6 will be obstructed by the fixing pin 5.2; at this time, pull the handle 5.5 to allow the fixing pin 5.2 to move). Fix both ends of track section 1.1 into the corresponding U-shaped seats 5.1 on the two mounting frames 3. If the quick-release spring 5.3 does not return to its original position after track segment 1.1 has been moved to its position, it indicates that the fixing pin 5.2 is not aligned with the mating pin hole 6.1. In this case, move the sliding seat 5.7 along the fine-tuning slide groove 4.1 to align the fixing pin 5.2 with the mating pin hole 6.1. The fixing pin 5.2 will automatically insert into the mating pin hole 6.1. Then, the position of the sliding seat 5.7 is locked by the quick-locking mechanism 14. Install the next track segment 1.1, align the plug block 1.2 on the next track segment 1.1 with the plug groove 1.3 of the previous track segment 1.1, and move the next track segment 1.1 upward to complete the splicing of the two track segments 1.1. Connect the track segments 1.1 in sequence to achieve the installation and fixation of track 1.

[0048] 2. Installation of the inspection robot: Rotate the bidirectional threaded rod 8.3 to move the hanging wheels 9 away from each other, then lift the inspection robot 2, align the hanging wheels with the hanging wheel groove 10, install the anti-drop protrusion rod 21 to achieve initial support, then rotate the bidirectional threaded rod 8.3 in the opposite direction to move the two hanging wheels 9 closer to each other and extend into the hanging wheel groove 10 to achieve engagement.

[0049] 3. Disassembly of the inspection robot: Rotate the bidirectional threaded rod 8.3 to move the pulleys 9 away from each other and away from the pulley groove 10, and then remove the anti-drop protrusion rod 21 to remove the inspection robot.

[0050] 4. Disassembly of the track: Pull the handle 5.5 to disengage the fixing pin 5.2 from the mating pin hole 6.1, and pull the track downwards to disassemble it.

Claims

1. A rail-mounted intelligent fire inspection robot, comprising a rail (1), an inspection robot (2) movable on the rail (1), and a mounting frame (3) for fixing the rail (1), characterized in that: The track (1) is made of lightweight aluminum alloy and has a multi-section assembly structure, including multiple track sections (1.1). The mounting frame (3) is a foldable structure with its bottom supported on the ground and a track mounting platform (4) on its top. The ends of two adjacent track sections (1.1) are supported by the same track mounting platform (4). Both ends of the track mounting platform (4) are provided with quick-installation mechanisms (5), and the tops of both ends of the track section (1.1) are provided with quick-installation seats (6). The quick-installation mechanism (5) includes an inverted U-shaped seat (5.1), a fixing pin (5.2), and a quick-installation spring (5.3). The U-shaped seat (5.1) has fixing pin holes (5.4) on both sides of its opposite side walls, and a fixing pin (5.2) is slidably provided inside. One end of the fixing pin (5.2) is provided with a pull handle (5.5), and the quick-installation spring (5.3) is sleeved on the outside of the fixing pin (5.2). Both ends are fixedly connected to the outer wall of the pull handle (5.5) and the U-shaped seat (5.1) respectively. The quick-release seat (6) is an inverted T-shaped structure. Its horizontal part is fixedly installed on the top of the track (1), and its vertical part is provided with a docking pin hole (6.1). The docking pin hole (6.1) is aligned with the fixing pin hole (5.4), and the fixing pin (5.2) passes through it. The inspection robot (2) is provided with a drive wheel assembly (7) at the middle position of the top. The drive wheel assembly (7) includes a drive wheel (7.1), and the drive wheel (7.1) is in contact with the bottom surface of the track (1) to achieve driving. The inspection robot (2) is provided with a hanging wheel mounting frame (8) on the front and rear sides of the top. Two hanging wheels (9) are installed on it. The track (1) is provided with a hanging wheel groove (10) on the opposite side walls. The hanging wheel (9) is opened and closed and slidably set on the hanging wheel mounting frame (8) and can be extended into the hanging wheel groove (10).

2. The rail-mounted intelligent fire inspection robot according to claim 1, characterized in that: The mounting bracket (3) includes a base (3.1), a vertical pole (3.2), and a horizontal top rod (3.3). The top of the vertical pole (3.2) is provided with fan-shaped plates (3.4) on both sides. The horizontal top rod (3.3) is hinged to the top of the vertical pole (3.2) and rotatably disposed between the two fan-shaped plates (3.4). The fan-shaped plates (3.4) are provided with arc-shaped grooves (3.5). The top of the arc-shaped grooves (3.5) is provided with a horizontal snap-fit ​​area (3.6). The horizontal top rod (3.3) is provided with a through-hole groove (3.7). A snap-fit ​​piece (11) is slidably disposed inside. Both ends of the snap-fit ​​piece (11) extend out of the through-hole groove (3.7) and are slidably disposed inside the arc-shaped groove (3.5). A snap-fit ​​spring (12) is provided on one side of the snap-fit ​​piece (11). Both ends of the snap-fit ​​spring (12) are respectively connected to one end of the snap-fit ​​piece (11) and one end of the through-hole groove (3.7).

3. The rail-mounted intelligent fire inspection robot according to claim 1, characterized in that: The track segment (1.1) is provided with a plug-in block (1.2) and a plug-in slot (1.3) at both ends. Two adjacent track segments (1.1) are connected by the plug-in block (1.2) and the plug-in slot (1.3).

4. The rail-mounted intelligent fire inspection robot according to claim 3, characterized in that: The track mounting platform (4) has fine-tuning grooves (4.1) at both ends. A slider (5.6) is fixedly installed on the top of the U-shaped seat (5.1). The slider (5.6) is slidably installed in the fine-tuning groove (4.1). A sliding seat (5.7) is fixedly installed on the top of the slider (5.6). The sliding seat (5.7) is an inverted U-shaped structure. A quick locking mechanism (14) is provided on both of its opposite side walls.

5. The rail-mounted intelligent fire inspection robot according to claim 4, characterized in that: The quick locking mechanism (14) includes a telescopic clamp (14.1) and an elliptical top block (14.2). The sliding seat (5.7) has a telescopic groove (5.8) on its side wall. The telescopic clamp (14.1) is slidably disposed in the telescopic groove (5.8). The elliptical top block (14.2) is rotatably disposed in the inner end of the telescopic groove (5.8), and a lever (14.3) is fixedly disposed on its side wall. The sliding seat (5.7) has a lever hole (5.9) on its side wall. The lever (14.3) can be rotated in the lever hole (5.9) by levering it. The inner end of the telescopic groove (5.8) is provided with spring telescopic cylindrical heads (15) on opposite side walls. The elliptical top block (14.2) is provided with positioning grooves (14.4) on its side walls. The end of the spring telescopic cylindrical head (15) can spring into the positioning groove (14.4).

6. The rail-mounted intelligent fire inspection robot according to claim 1, characterized in that: The drive wheel assembly (7) further includes a drive wheel bracket (7.2) and a drive motor (7.3). The inspection robot (2) has a hinge seat (2.1) on its top. The drive wheel bracket (7.2) is rotatably mounted inside the hinge seat (2.1). The drive wheel (7.1) is rotatably mounted at the end of the drive wheel bracket (7.2) away from the hinge seat (2.1). The drive motor (7.3) is fixed on the drive wheel bracket (7.2), and its output shaft is connected to the drive wheel (7.1). A torsion spring (7.4) is provided between the hinge seat (2.1) and the drive wheel bracket (7.2). The two ends of the spring (7.4) are respectively engaged with the inner wall of the drive wheel bracket (7.2) and the hinge seat (2.1), giving the drive wheel bracket (7.2) an upward rotation force, so that the drive wheel (7.1) is tightly attached to the track (1); the drive wheel bracket (7.2) is also provided with a telescopic abutment rod (7.5), the abutment rod (7.5) includes a threaded sleeve (7.51) and a threaded rod (7.52), which are threadedly connected, and the top of the inspection robot (2) is also provided with an abutment groove (2.2), and the end of the abutment rod (7.5) away from the drive wheel bracket (7.2) extends into the abutment groove (2.2).

7. The rail-mounted intelligent fire inspection robot according to claim 1, characterized in that: The top of the roller mounting bracket (8) is provided with a track groove (8.1) and an adjustment groove (8.2) perpendicular to the track groove (8.1). The bottom of the adjustment groove (8.2) is provided with a bidirectional threaded rod (8.3). Two roller brackets (8.4) are slidably provided in the adjustment groove (8.2). The roller (9) is rotatably provided on the inner side of the top of the roller bracket (8.4). The roller brackets (8.4) are symmetrically distributed along the track groove (8.1) and are threadedly connected to the bidirectional threaded rod (8.3).

8. The rail-mounted intelligent fire inspection robot according to claim 7, characterized in that: The longitudinal section of the adjustment groove (8.2) is a cross-shaped structure, and the hanging wheel frame (8.4) matches it; the adjustment groove (8.2) is also provided with an anti-loosening spring (8.5), which is located between the hanging wheel frame (8.4) and the end wall of the adjustment groove (8.2) and abuts against both; the anti-loosening spring (8.5) is sleeved on the bidirectional threaded rod (8.3).

9. A rail-mounted intelligent fire inspection robot according to claim 1, characterized in that: The wheel bracket (8.4) is rotatably mounted on the inspection robot (2). The top of the shell of the inspection robot (2) is provided with a through hole (2.3). A bearing with a seat (16) is installed in the through hole (2.3). The bottom of the wheel bracket (8.4) is provided with a rotating shaft (17), which passes through the bearing with a seat (16) and extends into the shell of the inspection robot (2). An anti-detachment plate (18) is installed and fixed thereon. The bottom wall of the seat of the bearing with a seat (16) is smooth and has multiple graphite lubricating blocks (19) embedded in it. The top surface of the anti-detachment plate (18) is in contact with the graphite lubricating blocks (19).

10. A rail-mounted intelligent fire inspection robot according to claim 1, characterized in that: The inspection robot (2) is also provided with two brackets (20) in the middle of both sides. Anti-drop rods (21) can be detachably installed on the opposite side of the two brackets (20). The anti-drop rods (21) extend into the groove of the hanging wheel (10).

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