Robot inspection track and inspection robot

Abstract

The invention discloses a robot inspection track, comprising a track body with a rectangular cross section, a conductive mounting part and a transmission mounting part respectively arranged on the left and right side surfaces of the track body, a track body mounting part is arranged on the top of the track body, and a robot hanging part is arranged on the bottom of the track body, the robot hanging part comprises two hanging tracks respectively arranged on the lower edges of the two side surfaces of the track body, the hanging track comprises hanging surfaces and limiting surfaces; the two hanging surfaces are used to hang the inspection robot, and the two limiting surfaces are used to limit the movement of the inspection robot in a non-walking direction; the robot inspection track of the invention has a limiting surface with a limiting function arranged on the track, so as to limit the swing and movement of the inspection robot in the non-walking direction, thereby preventing the inspection robot from shaking in the non-walking direction and affecting the quality of the inspection robot to extract monitoring pictures during inspection.

Description

Technical Field

[0001] The invention belongs to the field of automatic inspection equipment, and more specifically relates to a robot inspection track and an inspection robot using the inspection robot track. Background Art

[0002] The monitoring system is an important system for unmanned important places. In places with harsh environments, where people are not suitable for duty or are not suitable for long-term duty, it is necessary to install a monitoring system. Traditional monitoring is to install cameras at fixed points, so it is impossible to achieve all-round monitoring without blind spots. If the venue is too large and there are many objects blocking the view in the venue, it is necessary to install multiple cameras, resulting in high investment costs for monitoring equipment. In this way, inspection robots are put into operation, among which rail inspection robots are widely used because of their reliable control, easy installation, and determined walking path.

[0003] In the prior art, the track inspection robot uses a hanging device to hang the monitoring person on the inspection track, and the driving device drives the robot to walk along the inspection track to achieve cyclic monitoring in the monitoring area. However, the existing inspection robot is prone to shaking or moving during the inspection. The robot swings or moves in a large range in the non-walking direction relative to the inspection track, which seriously affects the stability of the monitoring picture and the monitoring effect. Summary of the invention

[0004] The object of the present invention is to provide a robot inspection track and an inspection robot, and a limiting surface with a limiting function is set on the track to limit the swing and movement of the inspection robot in a non-walking direction, thereby preventing the inspection robot from shaking in the non-walking direction and affecting the quality of the inspection robot's extraction of monitoring images during inspection.

[0005] The technical solution of the present invention is a robot inspection track, including a track body with a rectangular cross-section, a conductive mounting part and a transmission mounting part are respectively arranged on the left and right side surfaces of the track body, a track body mounting part is arranged on the top of the track body, and a robot hanging part is arranged on the bottom of the track body, the robot hanging part includes two hanging rails respectively arranged on the lower edges of the two side surfaces of the track body, the hanging rails include a hanging surface and a limiting surface; the two hanging surfaces are used to hang the inspection robot, and the two limiting surfaces are used to limit the movement of the inspection robot in the non-walking direction.

[0006] Preferably, the two hanging rails are symmetrically arranged about the axis of the rail body, the hanging surface and the limiting surface are both arranged as inclined surfaces, and the hanging surface and the limiting surface on the same hanging rail are in a non-parallel state.

[0007] Preferably, the limiting surface is arranged below the hanging surface, and the hanging surface and the limiting surface on the same track are symmetrically arranged about a horizontal midline between the hanging surface and the limiting surface, and the hanging track is V-shaped.

[0008] Preferably, the rail body mounting portion comprises two mounting rails respectively arranged on the edges of both side surfaces of the rail body, and the mounting rails comprise a horizontal mounting surface and a second limiting surface.

[0009] Preferably, the second limiting surface is configured as an inclined surface, and the second limiting surface is non-parallel to the hanging surface and the limiting surface.

[0010] A patrol robot comprises the aforementioned robot patrol track and a hanging bracket installed on the robot patrol track, wherein the hanging bracket comprises a bracket body and a hanging wheel group and a limiting wheel group installed on the bracket body.

[0011] Preferably, two groups of the hanging wheel groups are provided and are respectively placed on two hanging surfaces, and two groups of the limiting wheel groups are provided and are respectively placed on two limiting surfaces.

[0012] Preferably, two groups of the hanging wheel groups are provided and are respectively placed on the two hanging surfaces, and four groups of the limiting wheel groups are provided and are respectively placed on the two limiting surfaces and the two second limiting surfaces.

[0013] Preferably, the wheel surfaces of the hanging wheels and the limiting wheels of the hanging wheel group and the limiting wheel group are in line contact with the hanging surface and the limiting surface respectively, and the axes of the hanging wheels and the limiting wheels of the hanging wheel group and the limiting wheel group are parallel to the hanging surface and the limiting surface respectively.

[0014] The beneficial effects of a robot inspection track of the technical solution of the present invention are:

[0015] 1. The setting of the hanging surface and the limit surface respectively realizes the hanging of the inspection robot and the limitation of the movement of the inspection robot in the non-walking direction, which effectively avoids the phenomenon that the hanging bracket of the hanging inspection robot moves left and right on the track or swings left and right or swings with the axis of the inspection track as the radius, ensuring that the inspection robot always walks smoothly on the specified path on the inspection track during the inspection.

[0016] 2. The hanging surface and the limit surface are set as inclined surfaces, that is, the two hanging surfaces are used to hang the inspection robot, and the two limit surfaces are used to limit the hanging wheel groups or hanging wheels on each hanging surface to avoid the hanging wheel groups or hanging wheels from moving or swinging in non-walking directions.

[0017] The beneficial effect of a patrol robot of the technical solution of the present invention is: when using the patrol robot with the patrol track in the technical solution, during the patrol monitoring movement, the hanging bracket of the hanging robot always moves on the motion trajectory specified on the patrol track, avoiding problems such as the hanging bracket falling off or offsetting, ensuring the normal patrol work of the patrol robot and reducing the frequency of debugging or adjustment. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a front view of a robot inspection track of the technical solution of the present invention.

[0019] Figure 2 A three-dimensional diagram of a robot inspection track according to the technical solution of the present invention.

[0020] Figure 3 This is a schematic diagram of the structure of an inspection robot according to the technical solution of the present invention.

[0021] Figure 4 for Figure 3 Stereogram,

[0022] Figure 5 This is a schematic diagram of another embodiment of an inspection robot according to the technical solution of the present invention. DETAILED DESCRIPTION

[0023] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. The embodiments of the present invention are provided for the purpose of illustration and description, and are not intended to be exhaustive or to limit the present invention to the disclosed forms. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments are selected and described in order to better illustrate the principles and practical applications of the present invention, and to enable those of ordinary skill in the art to understand the present invention and thereby design various embodiments with various modifications suitable for specific uses.

[0024] Embodiment 1:

[0025] like Figure 1 and Figure 2As shown, a robot inspection track of the technical solution of the present invention comprises a track body 1 with a rectangular cross section. A conductive mounting part 2 and a transmission mounting part 3 for mounting a conductive wire 20 and a synchronous belt 30 are respectively arranged on the left and right sides of the track body 1. The conductive wire 20 and the synchronous belt 30 are installed on the conductive mounting part 2 and the transmission mounting part 3 of the track body 1 through connecting parts (such as screws and bolts). The conductive wire 20 is used to supply power for the inspection robot, and the synchronous belt 30 provides conditions for the transmission of the inspection robot, that is, the driving gear driven by the driving motor of the inspection robot is engaged with the synchronous belt 30 to realize the transmission and realize the active walking of the inspection robot. A track body mounting part 4 is arranged on the top of the track body 1, and the track body mounting part 4 includes two mounting rails respectively arranged on the edges of the two sides of the track body, and the mounting rails include a horizontal mounting surface 41. The track body 1 is fixedly installed with the mounting position through the track body mounting part 4, and the inspection track is installed on a building or the like through the horizontal mounting surface 41 and connecting parts (such as screws and bolts) arranged on the track body mounting part 4.

[0026] like Figure 1 and Figure 2 As shown in the figure, the technical solution of the present invention is a schematic diagram of the structure of a robot inspection track. The core technology of the inspection track of the technical solution of the present invention is that a robot hanging part 50 (such as Figure 1 The robot hanging part 50 includes two hanging rails 5 respectively arranged at the lower edges of the two sides of the track body. The hanging rails 5 include a hanging surface 51 and a limit surface 52. After the track body is installed, the inspection robot is installed. The inspection robot is hung by a hanging bracket (such as Figure 3 The component marked as 6 in the figure is connected to the track body 1, and specifically, the inspection robot is hung on the hanging track 5 through the hanging bracket 6.

[0027] like Figure 1 and Figure 2 As shown, in the technical solution of the present invention, the two hanging surfaces 51 are used to hang the inspection robot, and the two limiting surfaces 52 are used to limit the movement of the inspection robot in the non-walking direction. Figure 3The diagram shows the installation of the inspection robot. The hanging wheel set 501 and the limiting wheel set 502 on the hanging bracket 6 are respectively installed on the hanging surface 51 and the limiting surface 52. The two hanging surfaces 51 support the two hanging wheel sets 501 respectively, so as to hang the hanging bracket 6 and the inspection robot hung by the hanging bracket 6, fix the inspection robot and the inspection track, and ensure that the inspection robot walks on the inspection track. The limiting wheel set 502 on the limiting surface 52 limits the movement of the hanging wheel set 501 on the hanging surface 51 when the non-inspection robot is walking. Specifically, it limits the hanging wheel set 501 on the hanging surface 51 from moving left or right or swinging. If the hanging wheel set 501 moves left or right or swings left or right, it drives the hanging bracket 6 to move left or right or swing left or right, and drives the inspection robot to move left or right or swing left or right. When the hanging wheel group 501 moves left and right or swings, it is very easy for the hanging wheel group 501 to fall off the inspection track, that is, the inspection robot cannot perform inspection work normally and needs to be shut down for maintenance, etc., and it may even damage the hanging bracket or the inspection robot's own mechanism, causing great losses.

[0028] In the technical solution of the present invention, Figure 1 and Figure 2 As shown, the two hanging rails 5 are symmetrically arranged about the axis of the rail body 1, the hanging surface 51 and the limiting surface 52 are both arranged as inclined surfaces, and the hanging surface and the limiting surface on the same hanging rail are in a non-parallel state. In the present technical scheme, by utilizing the fact that the limiting surface 52 is not parallel to the hanging surface 51, the axes of the hanging wheel group 501 and the limiting wheel group 502 respectively arranged on the hanging surface 51 and the limiting surface 52 are not parallel, and on the same hanging rail, a clamping force on the hanging rail is formed between the hanging wheel group 501 and the limiting wheel group 502, and the angle and distance between the hanging wheel group 501 and the limiting wheel group 502 on the same hanging rail are constant. When the hanging wheel group 501 moves in the non-inspection robot inspection direction, the hanging wheel group 501 and the limiting wheel group 502 on the two hanging rails 5 restrict each other, so that the hanging bracket 6 cannot move or swing, and the absolute restriction of the movement of the hanging wheel group 501 in the non-inspection direction on the hanging surface 51 can be achieved, which includes any movement modes such as left and right movement, swinging, shaking, jumping, etc., that is, the absolute restriction of any movement of the hanging bracket 6 and the hanging wheel group 501 in any non-inspection walking direction is achieved.

[0029] like Figure 2 and Figure 3As shown, the limit surface 52 is arranged at the lower part of the hanging surface 51, and the hanging surface 51 and the limit surface 52 on the same track are symmetrically arranged with the horizontal midline between the hanging surface 51 and the limit surface 52, and the hanging track 5 is V-shaped. This structure is regular, easy to design and process, and each structure is symmetrically arranged, which is more beautiful. The two groups of symmetrical hanging wheel groups 501 and the limit wheel groups 502 on the two groups of symmetrically arranged hanging tracks 5 restrict each other. When the hanging wheel groups 501 and the limit wheel groups 502 on one group of hanging tracks 5 move left or right or swing, the other group of hanging wheel groups 501 and the limit wheel groups 502 restrict them, so that the hanging bracket as a whole cannot move left or right or swing.

[0030] In the above technical solution, the two limit surfaces 52 are used to limit the movement of the inspection robot in the non-walking direction. The movement trajectory of the limit wheel group can also be limited by setting a limit component on the limit surface 52. That is, during the movement of the inspection robot, the limit wheel group 502 can only move in a determined movement trajectory, and cannot move in the direction other than the walking direction of the inspection robot, that is, no left and right movement or swinging or other movements can occur.

[0031] Embodiment 2:

[0032] On the basis of the first specific embodiment of the robot inspection track, a second limiting surface 42 is provided on the mounting track of the track body mounting portion 4. The second limiting surface 42 is provided as an inclined surface, and the second limiting surface 42 is not parallel to the hanging surface 51 and the limiting surface 52. Figure 5 As shown, when the robot is installed, a limiting wheel 402 is set on the second limiting surface 42. The axis of this limiting wheel group 402 is not parallel to the axis of the limiting wheel group 502 on the aforementioned limiting surface 42. Multiple groups of limiting wheel groups with non-parallel axes are used to limit and restrict any movement of the hanging wheel group 501, such as left and right movement, swinging, shaking or jumping. Adding the second limiting surface 42 and the limiting wheel group 402 on the second limiting surface 42, that is, adding a restriction on the freedom of movement of the hanging wheel group 501, further realizing the restriction on the movement of the hanging wheel group 501 on the hanging surface 51 in the non-inspection direction, ensuring that the hanging bracket 6 will not shake left and right during the inspection with the inspection robot.

[0033] like Figure 3 As shown in the figure, it is a schematic diagram of the structure of a patrol robot in the technical solution of the present invention. The patrol robot includes the aforementioned robot patrol track, and also includes a hanging bracket 6 installed on the robot patrol track, and the hanging bracket 6 includes a bracket body and a hanging wheel group 501 and a limiting wheel group 502 installed on the bracket body. The hanging wheel group 501 is provided with two groups, and is respectively placed on two hanging surfaces 51, and the limiting wheel group 502 is provided with two groups, and is respectively placed on two limiting surfaces 52.

[0034] If the inspection track is of the structure of the second embodiment, two hanging wheel groups 501 are provided and are respectively placed on the two hanging surfaces 51 , and four limiting wheel groups are provided and are respectively placed on the two limiting surfaces 52 and the two second limiting surfaces 42 .

[0035] In this technology, the wheel surfaces of the hanging wheels and the limiting wheels of the hanging wheel group 501 and the limiting wheel groups 502 and 402 are in line contact with the hanging surface and the limiting surface respectively, and the axes of the hanging wheels and the limiting wheels of the hanging wheel group and the limiting wheel group are parallel to the hanging surface and the limiting surface respectively. During installation, ensure that the wheel surface is in full contact with the installation surface.

[0036] In the above technical solution, the hanging wheel group 501, the limiting wheel group 502 and the limiting wheel group 402 each include at least one smooth cylindrical wheel, or two or more smooth cylindrical wheels whose contact parts are flush with the hanging surface 51, the limiting surface 52 and the second limiting surface 42 respectively.

[0037] The inspection robot of the technical solution of the present invention has a special structure of the inspection track, so that the inspection robot moves smoothly during inspection, and the hanging bracket 6 and the hanging wheel 501 will not deviate from the track, ensuring that the inspection robot's trajectory is stable and will not deviate.

[0038] Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field and related fields without creative work should fall within the scope of protection of the present invention. The structures, devices and operating methods not specifically described and explained in the present invention are implemented according to the conventional means in the field unless otherwise specified and limited.

Claims

1. A patrol robot, characterized in that: Including robot inspection track and hanging bracket thereon; The robot inspection track comprises a track body with a rectangular cross section, a conductive mounting part and a transmission mounting part are respectively arranged on the left and right side surfaces of the track body, a track body mounting part is arranged on the top of the track body, and a robot hanging part is arranged on the bottom of the track body, and the robot hanging part comprises two hanging tracks respectively arranged on the lower edges of the two side surfaces of the track body, and the two hanging tracks are symmetrically arranged with respect to the axis of the track body, including a hanging surface inclined upward and a limiting surface inclined downward, and the limiting surface is arranged at the lower part of the hanging surface, and the hanging surface and the limiting surface on the same track are symmetrically arranged with respect to the horizontal midline between the hanging surface and the limiting surface, and the hanging track is V-shaped; The hanging bracket includes a bracket body and a hanging wheel group and a limiting wheel group installed on the bracket body. The hanging wheel group is provided with two groups and is respectively placed on two hanging surfaces. The limiting wheel group is provided with at least two groups and is respectively placed on two limiting surfaces. The two hanging surfaces are used to hang the inspection robot, and the two limiting surfaces are used to limit the movement of the inspection robot in the non-walking direction; The rail body mounting portion comprises two mounting rails respectively arranged on the edges of the two side surfaces of the rail body, the mounting rails comprise a horizontal mounting surface and a second limiting surface, the second limiting surface is arranged as a downwardly inclined surface, and the second limiting surface is non-parallel to the hanging surface and the limiting surface; the hanging bracket is also symmetrically provided with limiting wheel sets in contact with the second limiting surface; The wheel surfaces of the hanging wheels and the limiting wheels of the hanging wheel group and the limiting wheel group are in line contact with the hanging surface and the limiting surface respectively, and the axes of the hanging wheels and the limiting wheels of the hanging wheel group and the limiting wheel group are parallel to the hanging surface and the limiting surface respectively.

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