A gantry robot for inspection tours

Abstract

Disclosed is a hanging-rail robot, which includes a rail and a moving trolley that travels on the rail. A sliding contact wire rail is suspended along the rail direction below the rail. The moving trolley includes a trolley body, a traveling drive module, a moving power-taking module, a guiding module, a lifting device, and a detection cloud platform. The trolley body, the lifting device, and the detection cloud platform are connected in sequence. The traveling drive module is arranged on the upper part of the trolley body and rolls in contact with the upper part of the rail across the sliding contact wire rail. The guiding module is arranged on the upper surface of the trolley body and rolls in contact with the side surface of the rail across the sliding contact wire rail. The moving power-taking module is connected to the guiding module and extends into the sliding contact wire rail to take power. Through the external setting of the sliding contact wire, the sliding contact wire is miniaturized, and the modular structures make the installation and disassembly convenient and fast; through the setting of the adjustable moving power-taking module in cooperation with the guiding module and the traveling drive module, the structure is compact, the overall size is reduced, lightweight is achieved, and it is convenient for installation, disassembly, and maintenance.

Description

Technical Field

[0001] The present invention relates to the field of track robots, and particularly to a hanging-rail robot for inspection tours. Background Art

[0002] At present, the State Grid Corporation is vigorously promoting intelligent substations and unattended substations. The number of equipment inspection personnel has decreased, but the quality of equipment inspection cannot be reduced. How to conduct timely and effective inspections on substation equipment and accurately grasp the operating status of substation equipment in the state of fewer or no people has become a problem we must face.

[0003] Using a substation intelligent robot inspection system for daily inspections of substations can well solve this problem. The substation intelligent robot inspection system not only has the flexibility and intelligence of manual inspections, but also overcomes and makes up for some defects and deficiencies existing in manual inspections, and better meets the actual needs of the development of intelligent substations and unattended substations. It has great superiority and is the development direction of inspection technologies for intelligent substations and unattended substations.

[0004] In the technology of automatic robot inspections, currently, an I-shaped beam track setting is adopted, with a sliding contact wire placed inside. And in order to ensure stable operation and accurate positioning, the structure is relatively complex, and insufficient consideration is given to the convenience of installation and simplicity, as well as the repeated disassembly and convenient maintenance of components. Summary of the Invention

[0005] In order to solve the technical problems of complex structure and inconvenient installation and maintenance caused by ensuring stable operation and accurate positioning in the prior art, the present invention proposes a hanging-rail robot for inspection tours. On the one hand, the present invention solves the technical problems of complex structure and inconvenient installation and maintenance caused by ensuring stable operation and accurate positioning in the prior art.

[0006] According to one aspect of the present invention, a hanging-rail robot for inspection tours is proposed, which includes a track and a mobile trolley moving on the track. A sliding contact wire track is suspended along the track direction below the track. The mobile trolley includes a trolley body, a traveling drive module, a mobile power-taking module, a guiding module, a lifting device, and a detection cloud platform. The trolley body, the lifting device, and the detection cloud platform are connected in sequence. The traveling drive module is arranged on the upper part of the trolley body and rolls in contact with the upper part of the track across the sliding contact wire track. The guiding module is arranged on the upper surface of the trolley body and rolls in contact with the side surface of the track across the sliding contact wire track. The mobile power-taking module is connected to the guiding module and extends into the sliding contact wire track to take power. By the way that the sliding contact wire track is suspended below the track and extends parallel to the track, the sliding contact wire is miniaturized, and it is convenient for daily inspection, disassembly, and maintenance, reducing costs.

[0007] Further, it further includes a connecting bracket assembly. An installation groove is provided on the lower end surface of the track. The installation groove extends along the length direction of the track. One end of the connecting bracket assembly is fixed to the sliding contact track, and one end extends into the installation groove of the track and is fixed. Using the connecting bracket group is convenient for installation, has a low processing cost, is convenient for maintenance and replacement of parts, and also ensures the stable connection relationship between the track and the sliding contact track.

[0008] Further, the mobile power-taking module includes an adjustable current collector and a current collector bracket. One end of the adjustable current collector slidably extends into the sliding contact track to take power, and one end is rotatably connected to the current collector bracket. The current collector bracket is connected to the guiding module. By using the rotatable adjustable current collector, when the robot runs on the guide rail, especially when turning on the guide rail, the power-taking end of the adjustable current collector can be dynamically adjusted to contact the inside of the sliding contact track, avoiding impacts and ensuring full contact between the adjustable current collector and the sliding contact track.

[0009] Further, the guiding module includes two guiding modules. The two guiding modules are arranged front and back along the track direction. The mobile power-taking module is connected to one of the guiding modules. By setting the front and back guiding mechanisms, the stability of guiding is ensured.

[0010] Further, the guiding module includes a first connecting plate, a second connecting plate, a connecting column and a guiding wheel. The second connecting plate is rotatably connected to the upper surface of the trolley body. The first connecting plate is rotatably arranged on the upper surface of the second connecting plate. The connecting columns are fixedly arranged at both ends of the first connecting plate. The guiding wheels are rotatably arranged on the connecting columns. By utilizing the characteristics of free rotation between the first connecting plate and the second connecting plate and free rotation between the second connecting plate and the upper surface, the hanging rail robot can smoothly pass through large curved rails, and will not be stuck and unable to turn or turn unevenly due to freedom problems, thus affecting the normal operation of the hanging rail robot.

[0011] Further, the traveling driving module is arranged between the two guiding modules. The traveling driving module includes a driving mechanism, a synchronous transmission mechanism, an adjustable pressing mechanism, a suspension rolling mechanism and a mounting frame. The synchronous transmission mechanism is connected to the trolley body through the mounting frame. The suspension rolling mechanism is arranged on the upper surface of the trolley body. The driving mechanism is fixed inside the trolley body through the mounting frame. The driving mechanism drives the suspension rolling mechanism to roll on the track through the synchronous transmission mechanism. The adjustable pressing mechanism is arranged on the side of the suspension rolling mechanism and presses on the synchronous transmission mechanism. Arranging the driving mechanism and part of the synchronous transmission mechanism inside the trolley body makes the structure compact, fully utilizes the space, reduces the overall size of the hanging rail robot, realizes lightweight and is convenient for installation, disassembly and maintenance.

[0012] Further, the synchronous transmission mechanism includes a first synchronous pulley, a second synchronous pulley, a third synchronous pulley, a transmission belt, and a driving synchronous shaft. The first synchronous pulley is fixed in the driving synchronous shaft, and the second synchronous pulleys are fixed at both ends of the driving synchronous shaft. The first synchronous pulley and the second synchronous pulleys rotate synchronously on the same axis. The third synchronous pulley is connected to the hanging rolling mechanism, and the second synchronous pulley drives the third synchronous pulley synchronously through the transmission belt, thereby driving the hanging rolling mechanism to roll. The multi-stage transmission makes the transmission operation more stable.

[0013] Further, the guiding module includes a first connecting plate, connecting columns, guiding wheels, and a rolling support mechanism. The first connecting plate is rotatably connected to the upper surface of the trolley body. The connecting columns are fixedly arranged at both ends of the first connecting plate. The guiding wheels are rotatably arranged on the connecting columns. The rolling support mechanism is arranged between the guiding wheels and can elastically roll and contact the lower surface of the track. Through the setting of the guiding mechanism, the rotatable connection of the first connecting plate to the trolley body, and the support from the lower side of the rolling support mechanism, the stability of the guiding is ensured, and the hanging rail robot can smoothly pass through a large curved rail without being stuck or turning unevenly due to freedom problems, which affects the normal operation of the hanging rail robot.

[0014] Further, the traveling driving module is installed on one of the guiding modules. The traveling driving module includes a driving mechanism, a synchronous transmission mechanism, an adjustable pressing mechanism, a hanging rolling mechanism, and a mounting frame. The driving mechanism is fixed to the lower surface of the guiding module through the mounting frame. The hanging rolling mechanism is fixed to the upper surface of the guiding module. The synchronous transmission mechanism connects the driving mechanism and the hanging rolling mechanism. The driving mechanism drives the hanging rolling mechanism to roll on the track through the synchronous transmission mechanism. The adjustable pressing mechanism is arranged on the side of the hanging rolling mechanism and presses on the synchronous transmission mechanism. The traveling driving module and the guiding module are combined into a module to form a traveling module. The traveling modules are arranged one after the other along the length direction of the track and their speeds are independently controlled. This dual-driving structure can independently control the speed. When the trolley is running, especially in the curved section, the front-back differential speed can provide the ability of accurate guiding and smooth transition through the curve.

[0015] Further, the synchronous transmission mechanism includes a third synchronous pulley and a transmission belt. The third synchronous pulley is connected to the hanging rolling mechanism. The transmission belt connects the driving mechanism and the third synchronous pulley. The driving structure drives the third synchronous pulley to rotate through the transmission belt, thereby driving the hanging rolling mechanism to roll. On the basis of the combination of the above-mentioned traveling driving module and the guiding module into a module, the synchronous transmission mechanism is simplified to meet the operation requirements.

[0016] A trolley-mounted robot for inspection according to the present invention makes the trolley wire miniaturized through an external trolley wire device, which is convenient for daily inspection, disassembly and maintenance, and reduces costs; through various modular structures, the installation and disassembly are convenient and fast; through the adjustable mobile power-taking module cooperating with the guiding module, the operation is stable and the power supply is stable; through the structure of the guiding module, the trolley-mounted robot can smoothly pass through a large curved rail, and will not be stuck or turn unsteadily due to the degree-of-freedom problem, affecting the normal operation of the trolley-mounted robot; the setting of the walking drive module makes the structure compact, makes full use of the space, reduces the overall size of the trolley-mounted robot, realizes light weight and is convenient for installation, disassembly and maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings are included to provide a further understanding of the embodiments and are incorporated in and constitute a part of this specification. The drawings illustrate the embodiments and together with the description are used to explain the principles of the invention. Other embodiments and many of the intended advantages of the embodiments will be readily appreciated as they become better understood by reference to the following detailed description. The elements of the drawings are not necessarily to scale relative to each other. Like reference numerals refer to corresponding like parts.

[0018] Figure 1 is a schematic diagram of a trolley-mounted robot for inspection according to an embodiment of the present invention;

[0019] Figure 2 is an exploded view of a trolley-mounted robot for inspection according to a specific embodiment of the present invention;

[0020] Figure 3 is a schematic structural diagram of the mobile power-taking module of a trolley-mounted robot for inspection according to a specific embodiment of the present invention;

[0021] Figure 4 is a schematic structural diagram of the guiding module of a trolley-mounted robot for inspection according to a specific embodiment of the present invention;

[0022] Figure 5 is a schematic structural diagram of the walking drive module of a trolley-mounted robot for inspection according to a specific embodiment of the present invention;

[0023] Figure 6 is an exploded view of the walking drive module structure of a trolley-mounted robot for inspection according to a specific embodiment of the present invention;

[0024] Figure 7 is a schematic diagram of a trolley-mounted robot for inspection according to another specific embodiment of the present invention;

[0025] Figure 8An exploded view of a rail-mounted robot for inspection according to another specific embodiment of the present invention;

[0026] Figure 9 A schematic diagram of a walking drive module and a guiding module of a rail-mounted robot for inspection according to another specific embodiment of the present invention. Detailed implementation manners

[0027] In the following detailed description, reference is made to the accompanying drawings, which form a part of the detailed description and illustrate illustrative specific embodiments in which the present invention can be practiced. In this regard, directional terms such as "top", "bottom", "left", "right", "upper", "lower", etc. are used with reference to the orientation of the described figures. Since the components of the embodiments can be positioned in several different orientations, the directional terms are used for purposes of illustration and are in no way limiting. It should be understood that other embodiments may be utilized or logical changes may be made without departing from the scope of the present invention. Therefore, the following detailed description should not be taken in a limiting sense, and the scope of the present invention is defined by the appended claims.

[0028] Figure 1 Shown is a schematic diagram of a rail-mounted robot for inspection according to an embodiment of the present invention.

[0029] As Figure 1 Shown is a rail-mounted robot for inspection, including a track 10 and a mobile trolley walking on the track 10. A sliding contact wire track 20 is suspended along the track direction below the track 10. The mobile trolley includes a trolley body 30, a walking drive module 40, a mobile power-taking module 50, a guiding module 60, a lifting device 70, and a detection pan-tilt 80. The trolley body 30, the lifting device 70, and the detection pan-tilt 80 are connected in sequence. The walking drive module 40 is arranged on the upper part of the trolley body 30 and rolls on the upper part of the track 10 across the sliding contact wire track 20. The guiding module 60 is arranged on the upper surface of the trolley body 30 and rolls on the side surface of the track 10 across the sliding contact wire track 20. The mobile power-taking module 50 is connected to the guiding module 60 and extends into the sliding contact wire track 20 to take power. The lifting device 70 includes a lifting motor 71, a telescopic lifting rod group 72, and a pan-tilt mounting plate 73. The lifting motor 71 is arranged in the trolley body 30, and the lifting motor 71 drives the telescopic lifting rod group 72 to move. The pan-tilt mounting plate 73 fixes the detection pan-tilt 80 and moves along with the telescopic lifting rod 72.

[0030] Figure 2 Shown is an exploded view of a rail-mounted robot for inspection according to a specific embodiment of the present invention.

[0031] As Figure 2A hanging-rail robot for inspection is shown, which includes a track 10, a sliding contact wire track 20, a trolley body 30, a walking drive module 40, a mobile power-taking module 50, a guiding module 60, a lifting device 70, and an inspection cloud platform 80. The sliding contact wire track 20 includes two tracks, which are arranged below the track 10 and arranged left and right. The two-wire system has a more sufficient contact and a more stable power supply. The track 10 and the sliding contact wire track 20 are fixed by a connecting bracket assembly 21 to ensure a stable connection between the two. By suspending the sliding contact wire track 20 below the track 10 and extending parallel to the track 10, the sliding contact wire can be miniaturized, and it is convenient for daily inspection, disassembly and maintenance, reducing costs.

[0032] In a specific embodiment, as Figure 3 shown, the track 10 adopts a track body with a rectangular frame. An installation groove 11 is provided on the lower end surface of the track 10, and the installation groove 11 extends along the length direction of the track 10. Two installation grooves 11 are used to cooperate with the sliding contact wire track 20. The connecting bracket assembly 21 includes a sliding contact wire fixing clip 211, a connecting bracket 212, and an adjustable guide rail fixing mechanism 213. The sliding contact wire fixing clip 211 clamps on the outer surface of the sliding contact wire track 20, and the adjustable guide rail fixing mechanism 213 extends into the installation groove 11 of the track 10 and is fixed. The connecting bracket 212 adopts an L-shaped structure and connects the sliding contact wire fixing clip 211 and the adjustable guide rail fixing mechanism 213. Using a split-type connecting bracket assembly for the sliding contact wire is convenient for installation, has a low processing cost, is convenient for repairing and replacing parts, and also ensures a stable connection relationship between the track 10 and the sliding contact wire track 20. The lengths of the two planes of the L-shaped structure can be adjusted according to the distance between the track 10 and the sliding contact wire track 20 and the distance between the two sliding contact wire tracks 20, and the processing is simple and convenient.

[0033] Continue to refer to Figure 3 , the track 10 adopts a rectangular frame structure, which is different from the conventional I-beam structure, and only one groove is opened on its upper surface, so that the rolling wheels of the hanging-rail robot have a sufficient contact area on the upper surface and the rolling wheels are not prone to slipping. No installation groove is opened on the side surface of the track 10, which can reserve enough area for pasting and setting the identification code, solving the problem that the side area was small before and it was difficult to paste and set the identification code on the side surface. It is convenient to set the corresponding identification code position according to the position of the identification device of the hanging-rail robot. At the same time, fewer groove settings can further improve the strength of the overall structure, which is very suitable for the application of the hanging-rail robot.

[0034] Continue to refer to Figure 3, the mobile power-taking module 50 includes an adjustable current collector and a current collector bracket 55. The adjustable current collector includes a power-taking brush 51, a first rotating assembly 52, a second rotating assembly 53, and a synchronous connecting member 54. The first rotating assembly 52 is rotatably connected to the current collector bracket 55, the second rotating assembly 53 is rotatably connected to the power-taking brush 51, and the synchronous connecting member 54 connects the first rotating assembly 52 and the second rotating assembly 53 to keep the rotation of the first rotating assembly 52 and the second rotating assembly 53 synchronized. The power-taking brush 51 is slidably embedded in the sliding contact track 20 for power-taking contact. By using the rotatable adjustable current collector, when the robot runs on the guide rail, especially when turning on the guide rail, the power-taking end of the adjustable current collector can be dynamically adjusted to contact with the sliding contact track to avoid impact and ensure full contact between the adjustable current collector and the sliding contact track.

[0035] Continue to refer to Figure 3 , both the first rotating assembly 52 and the second rotating assembly 53 include a rotating shaft and a rotating piece. The rotating piece is sleeved on the rotating shaft and rotates with the rotating shaft. The movement between the two rotating assemblies is transmitted and synchronized through the synchronous connecting member 54. When the rotating shaft in any one of the rotating assemblies rotates, it drives the rotating piece connected to it to rotate, and then the rotation is synchronously transmitted to the rotating piece and the rotating shaft in the other rotating assembly through the synchronous connecting piece. The rotating assembly is set with split parts, which is convenient for installation, matching and maintenance, but is not limited to this. Any connecting member that can make the first rotating assembly 52 and the second rotating assembly 53 rotate synchronously is acceptable. The current collector bracket 55 is a Z-shaped bent sheet metal part, including a vertical surface, a first horizontal mounting surface and a second horizontal mounting surface that are both perpendicular to the vertical surface. The first horizontal mounting surface is fixedly connected to the guiding module 60 and can move along with the guiding module 60. The second horizontal mounting surface is rotatably connected to the rotating shaft of the first rotating assembly 52. The setting of the Z-shaped bent sheet metal part enables flexible installation positions. The connection structure between the mobile power-taking module 50, the guiding module 60 and the sliding contact track 20 is simple, which is convenient for installation and disassembly.

[0036] In a specific embodiment, as Figure 4 shown, the guiding module 60 includes a first connecting plate 61, a second connecting plate 62, a fixed seat 63, a connecting column 64, a guiding wheel 65, a bearing 66, a bolt 67 and a bolt 68. The first connecting plate 61 is cooperatively connected with the second connecting plate 62 through the bolt 67. Two fixed seats 63 are respectively installed at both ends of the first connecting plate 61. A connecting column 64 is set on the fixed seat 63, and the guiding wheel 65 is installed at the top of the connecting column 64. A bearing 66 is set at the bottom of the second connecting plate 62 so that the second connecting plate 62 can freely rotate around the center of the bearing 66. The second connecting plate 62 is used to connect with the upper surface of the hanging rail robot. Through the rotatable cooperative connection of the bearing 66, the guiding mechanism has a certain degree of freedom.

[0037] Continue to refer to Figure 4, the first connecting plate 61 and the second connecting plate 62 are rectangular block structures, the second connecting plate 62 is vertically connected to the first connecting plate 61, and the distance between the two fixing seats 63 satisfies that the two guide wheels 65 can contact the track of the hanging rail robot after assembly. Preferably, fixing holes can be opened at different positions on the second connecting plate 62 according to different track sizes, and the fixing seats 63 can be fixed to the corresponding fixing holes according to the actual track size, which can meet the applications of different specifications of tracks. The upper end of the connecting column has a smaller diameter for a tight fit connection with the inner diameter of the guide wheel 65. A clamping groove is also provided on the upper end of the connecting column, and a snap ring can be used to fix it on the clamping groove to limit the guide wheel 65 and prevent the guide wheel 65 from falling off. The guide wheel 65 includes a bearing to ensure that the guide wheel 65 can roll smoothly on the track.

[0038] In a specific embodiment, as Figure 2 shown, two guiding mechanisms 60 are provided on the upper surface of the trolley body 30 of the hanging rail robot. The guiding mechanisms 60 are arranged one in front of the other along the length direction of the track 10. The second connecting plate 62 of the guiding mechanism is connected to the upper surface of the trolley body 30, and the guide wheel 65 contacts the side surface of the track 10. Through the arrangement of the front and rear guiding mechanisms, by utilizing the freely rotatable characteristics between the first connecting plate 61 and the second connecting plate 62 and between the second connecting plate 62 and the upper surface, the hanging rail robot can smoothly pass through a large curved track without being stuck or turning unevenly due to freedom problems, which affects the normal operation of the hanging rail robot.

[0039] In a specific embodiment, as Figure 5 shown, the traveling drive module 40 includes a drive mechanism 41, a synchronous transmission mechanism 42, an adjustable pressing mechanism 43, a suspension rolling mechanism 44, and a mounting frame 45. The synchronous transmission mechanism 42 is connected to the trolley body 30 through the mounting frame 45. The suspension rolling mechanism 44 is arranged on the upper surface of the trolley body 30. The drive mechanism 41 is fixed inside the trolley body 30 through the mounting frame 45. The drive mechanism 41 drives the suspension rolling mechanism 44 to roll on the track through the synchronous transmission mechanism 42. The adjustable pressing mechanism 43 is arranged on the side of the suspension rolling mechanism 44 and presses on the synchronous transmission mechanism 42. By arranging the drive mechanism 41 and part of the synchronous transmission mechanism 42 inside the trolley body 30, the structure is compact, the space is fully utilized, the overall size of the hanging rail robot is reduced, lightweight is achieved, and it is convenient for installation, disassembly, and maintenance.

[0040] In a specific embodiment, as Figure 5 、 6As shown in the figure, the driving mechanism 41 includes a reduction motor 411 and a driving wheel 412. The driving wheel 412 is arranged at the driving output end of the reduction motor 411. The synchronous transmission mechanism 42 includes a first synchronous wheel 421, a second synchronous wheel 422, a third synchronous wheel 423, a transmission belt 424, and a driving synchronous shaft 425. The first synchronous wheel 421 is fixed in the driving synchronous shaft 425, and the second synchronous wheels 422 are fixed at both ends of the driving synchronous shaft 425. The first synchronous wheel 421 and the second synchronous wheels 422 rotate synchronously on the same axis. The second synchronous wheel 422 is synchronously transmitted to the third synchronous wheel 423 through the transmission belt 424. The driving wheel 412 is connected to the first synchronous wheel 421 through belt drive, and the diameter of the driving wheel 412 is larger than that of the first synchronous wheel 421. In the industry standard, there is a limit on the maximum transmission speed of the reduction motor used (200 revolutions per minute), which cannot meet the working requirements of the inspection robot. By the method of transmitting from the driving wheel 412 (large wheel) to the first synchronous wheel 421 (small wheel), the output speed is increased to meet the working requirements of the inspection robot. Moreover, the transmission system layout direction of the driving mechanism 41 is perpendicular to the transmission system layout direction of the synchronous transmission mechanism 42, which is conducive to the compact arrangement of the structure, with a simple structure and convenient disassembly, installation, and maintenance.

[0041] In a specific embodiment, as Figure 5 , 6 shown, the suspension rolling mechanism 44 includes a support seat 441, a driving output shaft 442, and a rolling wheel 443. The support seats 441 are symmetrically arranged and fixed on the upper surface of the trolley body 30. The track 10 and the trolley wire track 20 pass through between the support seats 441. The driving output shaft 442 is rotatably arranged in the upper part of the support seat 441. The inner end of the driving output shaft 442 is fixed with the rolling wheel 443, and the outer end is fixed with the third synchronous wheel 423. The third synchronous wheel 423 drives the rolling wheel 443 to roll on the track 10 through the driving output shaft 442. The suspension rolling mechanisms 44 are symmetrically arranged on both sides of the track 10, achieving the combined effects of transmission and support through an optimized structure, making the structure compact, and facilitating installation, disassembly, and maintenance.

[0042] Bearings (not shown in the figure) may be provided on the driving output shaft 442, and the bearings are nested in the support seat 441. The bearings are arranged in the support seat 441 to support the rotating driving output shaft 442, reduce the friction coefficient during the movement process, ensure stable rotation, and reduce the wear of the driving output shaft. The present invention is not limited to only using bearings to achieve the effects of supporting the rotating shaft body, reducing friction, and reducing wear.

[0043] Preferably, the hanging rolling mechanism 44 further includes a limiting wheel 445 and a limiting support 444. The limiting support 444 is fixed to the inner side of the support base 441. The limiting wheel 445 is rotatably arranged on the limiting support 444. The limiting wheel 445 contacts both sides of the track and rolls along with the rolling wheel 443. The arrangement of the limiting wheel 445 can limit the moving range of the inspection robot and prevent the position of the walking driving device from shifting out of the track during walking. The present invention is not limited to only using a limiting wheel to achieve the limiting effect.

[0044] Continue to refer to Figure 5 、 6 , the adjustable pressing mechanism 43 includes an adjustable swing assembly 431 and a pressing wheel 432. The adjustable swing assembly 431 adopts a sector-shaped part. The sector-shaped part is installed on the support base 441 through a hinge shaft. The sector-shaped part rotates around the hinge shaft. The pressing wheel 32 is rotatably connected to the adjustable swing assembly 431 through a hinge shaft. A swing hole is provided on the sector-shaped part, and a limiting rod is provided on the support base 441. The limiting rod can swing left and right in the swing hole to limit the rotation amplitude of the sector-shaped part around the hinge shaft. The adjustable swing member 31 swings by a certain amplitude, which can adjust the adhesion between the pressing wheel 432 and the transmission belt 424 during the dynamic transmission of the synchronous transmission mechanism 42, so as to ensure that the transmission belt has good working ability.

[0045] In the above specific embodiment, the connection between modules is simple, the structure is compact, it is convenient for installation and disassembly, making the overall structure miniaturized. The right-angle transmission of the walking drive module 40 also makes the structure compact. The cooperation between the walking drive module 40 and the guiding module 60 also enables the hanging rail robot to maintain good smooth running ability.

[0046] Figure 7 is a hanging rail robot for inspection according to another specific embodiment of the present invention.

[0047] As Figure 7 shown, compared with the previous embodiment, the main difference is that the walking drive module 40 and the guiding module 60 are combined into one module to form a new walking guiding module. The walking guiding module is rotatably connected to the upper surface of the trolley body 30. The walking guiding module is arranged on one side of the track 10 along the length direction, one in front and the other behind, that is, one walking guiding module is on the left side of the track 10 and the sliding contact wire rail 20, and the other walking guiding module is on the right side of the track 10 and the sliding contact wire rail 20. This dual-drive structure can independently control the speed. When the trolley is running, especially in the part of the curve, using the front and rear differential speed, it can provide accurate guiding and smooth transition ability for the curve.

[0048] In the specific embodiment, as Figure 8 、 9As shown, compared with the previous embodiment, the walking drive module 40 and the guiding module 60 are partially different in structure. Specifically, the guiding module 60 includes a first connecting plate 61, a fixed seat 63, a connecting column 64 and a guiding wheel 65. The first connecting plate 61 is rotatably connected to the upper surface of the trolley body 30. Two fixed seats 63 are respectively installed at both ends of the first connecting plate 61. A connecting column 64 is provided on the fixed seat 63, and the guiding wheel 65 is installed at the top of the connecting column 64. The walking drive module 40 includes a reduction motor 411, a driving wheel 412, a third synchronous wheel 423, a transmission belt 424, a support seat 441, a driving output shaft 442 and a rolling wheel 443. The driving wheel 412 is arranged at the driving output end of the reduction motor 411. The support seat 441 is fixed on the first connecting plate 61 and on the same side as the fixed seat. The support seat 441 can move along with the first connecting plate 61. The driving output shaft 442 is rotatably penetrated through the upper part of the support seat 441. The inner end of the driving output shaft 442 is fixed with the rolling wheel 443, and the outer end is fixed with the third synchronous wheel 423. The third synchronous wheel 423 drives the rolling wheel 443 to roll on the track 10 through the transmission belt 424. The transmission system arrangement direction of the driving mechanism is perpendicular to the transmission system arrangement direction of the synchronous transmission mechanism, which is beneficial to the compact arrangement of the structure, simple in structure, and convenient for disassembly, installation and maintenance.

[0049] A bearing (not shown in the figure) may be provided on the driving output shaft 442, and the bearing is nested in the support seat 441. The bearing is arranged in the support seat 441 to support the rotating driving output shaft 442, reduce the friction coefficient during the movement process, ensure stable rotation and reduce the wear of the driving output shaft. The present invention is not limited to only using bearings to achieve the effect of supporting the rotating shaft body, reducing friction and wear.

[0050] Preferably, the suspension rolling mechanism 44 further includes a limiting wheel 445 and a limiting support 444. The limiting support 444 is fixed on the inner side surface of the support seat 441. The limiting wheel 445 is rotatably arranged on the limiting support 444. The limiting wheel 445 contacts both sides of the track and rolls along with the rolling wheel 443. The setting of the limiting wheel 445 can limit the moving range of the inspection robot and prevent the position of the walking driving device from shifting out of the track during the walking process. The present invention is not limited to only using the limiting wheel to achieve the limiting effect.

[0051] Continue to refer to Figure 8 、 9, a rolling support mechanism 69 is provided on the first connecting plate 61. The rolling support mechanism 69 includes a rolling support wheel 691, an elastic rolling support frame 692, and a support fixing seat 693. The support fixing seat 693 is fixed on the first connecting plate 61. The elastic rolling support frame 692 is hinged to the support fixing seat 693 and is arranged obliquely upward. The elastic rolling support frame 692 is provided with a through hole for a rotating pin shaft to be inserted, so that the upper surfaces of the first connecting plate 61 and the trolley body 30 rotate around the rotating pin shaft. The rolling support wheel 691 is rotatably connected to the elastic rolling support frame 692, and the rolling support wheel 691 is in rolling contact with the lower surface of the track. The elastic rolling support frame 692 is hinged to the support fixing seat 693, so as to drive the rolling support wheel 691 to swing up and down on the lower surface of the track. This design can be dynamically adjusted during operation, and cooperate with the rolling wheel 443 on the upper surface of the track and the limiting wheel 445 on the side to make the operation stable.

[0052] Another embodiment of the present invention is mainly reflected in the double-drive structural design. The speeds of the front and rear walking modules are independently controlled, and the front and rear differential speeds can be used to smoothly transition on the track, especially at the bend.

[0053] Obviously, those skilled in the art can make various modifications and changes to the embodiments of the present invention without departing from the spirit and scope of the present invention. In this way, if these modifications and changes are within the scope of the claims of the present invention and their equivalent forms, the present invention also aims to cover these modifications and changes. The word "comprising" does not exclude the presence of other elements or steps not listed in the claims. The simple fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measures cannot be used to obtain benefits. Any reference signs in the claims should not be construed as limiting the scope.

Claims

1. A hanging-rail robot for patrol inspection, comprising a rail and a mobile trolley moving on the rail, characterized in that The track adopts a track body with a rectangular frame. A trolley wire track is suspended along the track direction below the track. The mobile trolley includes a trolley body, a walking drive module, a mobile power taking module, two guiding modules, a lifting device and a detection cloud platform. The trolley body, the lifting device and the detection cloud platform are connected in sequence. The walking drive module is arranged on the upper part of the trolley body and rolls in contact with the upper part of the track across the trolley wire track. The two guiding modules are arranged front and back along the track direction, and the guiding modules are arranged on the upper surface of the trolley body and roll in contact with the side surface of the track across the trolley wire track. The guiding module includes a first connecting plate, a second connecting plate, a connecting column and a guiding wheel. The second connecting plate is rotatably connected to the upper surface of the trolley body. The first connecting plate is rotatably arranged on the upper surface of the second connecting plate. The connecting columns are fixedly arranged at both ends of the first connecting plate. The guiding wheels are rotatably arranged on the connecting columns. The mobile power taking module includes an adjustable current collector and a current collector support. The adjustable current collector includes a power taking brush, a first rotating assembly, a second rotating assembly and a synchronous connecting piece. Both the first rotating assembly and the second rotating assembly include a rotating shaft and a rotating piece. The rotating piece is sleeved on the rotating shaft and rotates with the rotating shaft. The rotating shaft of the first rotating assembly is rotatably connected to the current collector support. The second rotating assembly is rotatably connected to the power taking brush. The synchronous connecting piece connects the first rotating assembly and the second rotating assembly to keep the rotation of the first rotating assembly and the second rotating assembly synchronous. The current collector support is connected to one of the guiding modules, and the power taking brush is slidably inserted into the trolley wire track for contact power taking. It further includes a connecting bracket assembly. An installation groove is arranged on the lower end surface of the track and extends along the length direction of the track. One end of the connecting bracket assembly is fixed to the trolley wire track, and the other end extends into the installation groove of the track for fixation.

2. The rail-mounted robot for inspection according to claim 1, wherein The walking drive module is arranged between the two guiding modules. The walking drive module includes a driving mechanism, a synchronous transmission mechanism, an adjustable pressing mechanism, a suspension rolling mechanism and a mounting frame. The synchronous transmission mechanism is connected to the trolley body through the mounting frame. The suspension rolling mechanism is arranged on the upper surface of the trolley body. The driving mechanism is fixed inside the trolley body through the mounting frame. The driving mechanism drives the suspension rolling mechanism to roll on the track through the synchronous transmission mechanism. The adjustable pressing mechanism is arranged on the side surface of the suspension rolling mechanism and presses on the synchronous transmission mechanism.

3. The rail-mounted robot for inspection according to claim 2, wherein, The synchronous transmission mechanism includes a first synchronous wheel, a second synchronous wheel, a third synchronous wheel, a transmission belt and a driving synchronous shaft. The first synchronous wheel is fixed in the driving synchronous shaft. The second synchronous wheels are fixed at both ends of the driving synchronous shaft. The first synchronous wheel and the second synchronous wheels rotate synchronously with the same axis. The third synchronous wheel is connected to the suspension rolling mechanism. The second synchronous wheel is synchronously transmitted to the third synchronous wheel through the transmission belt, thereby driving the suspension rolling mechanism to roll.

4. The rail-mounted robot for inspection according to claim 1, wherein, The guiding module includes a first connecting plate, connecting columns, guiding wheels and a rolling support mechanism. The first connecting plate is rotatably connected to the upper surface of the trolley body. The connecting columns are fixedly arranged at both ends of the first connecting plate. The guiding wheels are rotatably arranged on the connecting columns. The rolling support mechanism is arranged between the guiding wheels and can elastically roll and contact with the lower surface of the track.

5. The rail-mounted robot for patrol inspection according to claim 1 or 4, characterized in that, The traveling driving module is installed on one of the guiding modules. The traveling driving module includes a driving mechanism, a synchronous transmission mechanism, an adjustable pressing mechanism, a hanging rolling mechanism and a mounting bracket. The driving mechanism is fixed on the lower surface of the guiding module through the mounting bracket. The hanging rolling mechanism is fixed on the upper surface of the guiding module. The synchronous transmission mechanism connects the driving mechanism and the hanging rolling mechanism. The driving mechanism drives the hanging rolling mechanism to roll on the track through the synchronous transmission mechanism. The adjustable pressing mechanism is arranged on the side of the hanging rolling mechanism and presses on the synchronous transmission mechanism.

6. The rail-mounted robot for inspection according to claim 5, wherein, The synchronous transmission mechanism includes a third synchronous pulley and a transmission belt. The third synchronous pulley is connected to the hanging rolling mechanism. The transmission belt connects the driving mechanism and the third synchronous pulley. The driving structure drives the third synchronous pulley to rotate through the transmission belt, and then drives the hanging rolling mechanism to roll.

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