A rail inspection robot

Abstract

This application relates to the technical field of inspection equipment and discloses a rail-mounted inspection robot comprising a robot body and a lifting assembly mounted on the robot body. One end of the lifting assembly is fixed to the robot body, and a camera is mounted on the telescopic end of the lifting assembly. This application has the effect of expanding the inspection range of the camera on the inspection robot.

Description

Technical Field

[0001] The present application relates to the technical field of inspection equipment, and in particular to a rail-hanging inspection robot. Background Art

[0002] A rail-mounted robot is primarily used in machine rooms, substations, pipe corridors, and tunnels. Equipped with cameras and sensors, it conducts scheduled or real-time inspections. Before use, a rail-mounted robot must be installed on the roof of a building. The robot will move forward or backward along the track.

[0003] The rail-hanging robots recorded in related technologies are usually equipped with a variety of detection instruments, especially a camera that can capture the status of each device in the working area is installed at the bottom of the inspection robot. The camera will transmit the captured photos and video files to the remote monitoring system.

[0004] However, the camera on the inspection robot is usually fixed directly on the lower part of the inspection robot, so the camera can only perform inspections at a fixed height, and the inspection range is small, which affects the inspection effect. Summary of the Invention

[0005] In order to expand the inspection range of the camera on the inspection robot, the present application provides a rail-mounted inspection robot.

[0006] The present application provides a rail inspection robot that adopts the following technical solutions:

[0007] A rail-hanging inspection robot comprises a robot body and a lifting assembly mounted on the robot body, one end of the lifting assembly is fixed to the robot body, and a camera is mounted on the telescopic end of the lifting assembly.

[0008] By adopting the above technical solution, the lifting component can drive the camera installed at the telescopic end of the lifting component to rise and fall, thereby expanding the inspection range of the camera, making the inspection effect of the inspection robot better, and being able to more comprehensively transmit the equipment status to the remote monitoring system.

[0009] Optionally, the lifting assembly includes a mounting seat mounted on the robot body and a suspended mounting platform, and the mounting platform is used to mount a camera;

[0010] A first lifting unit and a second lifting unit are provided between the mounting seat and the mounting platform, the first lifting unit comprising a first motor mounted on the mounting seat, a first lifting arm fixedly connected to an output shaft of the first motor at one end, a first swing arm hinged to the other end of the first lifting arm, and the other end of the first swing arm hinged to the mounting platform;

[0011] The second lifting unit includes a second lifting arm with one end hinged to the mounting base, a second motor fixedly installed at the other end of the second lifting arm, and a second swing arm with one end fixedly connected to the output shaft of the second motor, and the other end of the second swing arm is hinged to the mounting platform.

[0012] By adopting the above technical solution, when the camera position needs to be adjusted, the first and second motors are activated simultaneously. The output shaft of the first motor drives the first lifting arm to rotate, which in turn drives the first swing arm to rotate. The second motor then drives the second swing arm to rotate. Because the second motor is fixedly mounted on the second lifting arm, the angle between the second lifting arm and the second swing arm remains constant, thereby limiting the mounting platform. With the dual restraints of the first and second lifting units, the mounting platform can maintain a stable lifting state, thereby achieving a stable lifting and lowering of the camera.

[0013] Optionally, the mounting base is installed at the lower part of the robot body, and the mounting base is installed at one end of the robot base plate in the length direction.

[0014] By adopting the above technical solution, under the joint action of the first motor and the second motor, the first lifting unit and the second lifting unit can be completely folded, and the folded lifting components can be hidden in the lower part of the robot body, reducing the space occupied and reducing the footprint of the inspection robot. When it needs to pass through some narrow spaces, the inspection robot can still pass normally.

[0015] Optionally, a driving unit and an active unit for driving the robot body to move along the track are provided in the robot body;

[0016] The driving unit includes a driving motor and a driving bevel gear connected to the output shaft of the driving motor;

[0017] The driving unit includes a driven bevel gear matched with the driving bevel gear, a driving gear coaxially mounted with the driven bevel gear, a driven gear meshing with the driving gear, and a driving wheel coaxially mounted with the driven gear, and the driving wheel can move along the track.

[0018] By adopting the above technical solution, the drive motor is started, and the drive motor drives the active bevel gear to rotate. As the active bevel gear and the driven bevel gear are engaged, the driven bevel gear will also drive the active gear to rotate. The driven gear is engaged with the active gear, so the driven gear will also rotate, and the driven gear will drive the active wheel to rotate. Therefore, as the active wheel rotates, the robot body can move forward or backward on the track.

[0019] Optionally, it further includes a driven wheel installed on the machine body, the driven wheel cooperates with the driving wheel, the driven wheel is consistent in size with the driving wheel, and the driven wheel can move along the track.

[0020] By adopting the above technical solution, the driven wheel can assist the driving wheel, thereby speeding up the movement speed of the robot body and making the robot body more convenient to use.

[0021] Optionally, the active units are provided in two groups, the two groups of active units are symmetrically arranged, and the driven wheels are also symmetrically arranged in two groups, and the driven wheels correspond to the active units one by one.

[0022] Optionally, an infrared thermal imager is also installed on the mounting platform.

[0023] By employing this technical solution, infrared thermal imagers can capture real-time images of the entire target surface. This allows operators to initially determine heating conditions and fault locations through the on-screen image color and hotspot tracking display. This allows for subsequent analysis, efficiently and accurately identifying the problem. Infrared thermal imagers can complement cameras, enhancing the effectiveness of inspection robots and enabling faster problem detection.

[0024] Optionally, the robot body includes a bottom plate, a front plate, a rear plate, two symmetrically installed side plates, and a top plate, the front plate and the rear plate are both in a concave shape, and the top plate is adapted to the front plate and the rear plate.

[0025] By adopting the above technical solution, a track groove that matches the track can be formed on the robot body.

[0026] Optionally, an ultrasonic radar is installed on the front panel.

[0027] By adopting the above technical solution, the ultrasonic radar can sense obstacles in front and behind the inspection robot, preventing the inspection robot from colliding with the obstacles and causing damage to the inspection robot.

[0028] Optionally, a gas sensor is also installed at the hinge point between the first lifting arm and the first swing arm.

[0029] By adopting the above technical solution, the gas sensor can transmit information such as the composition and concentration of the gas to the remote monitoring system. When the equipment is damaged and produces odor, and the camera cannot perceive it, the gas sensor can effectively transmit information and remind the staff to carry out timely maintenance.

[0030] In summary, this application includes at least one of the following beneficial technical effects:

[0031] 1. By setting up a lifting component, the lifting component can drive the camera installed at the telescopic end of the lifting component to rise and fall, thereby expanding the inspection range of the camera, making the inspection robot more effective, and being able to more comprehensively transmit the equipment status to the remote monitoring system;

[0032] 2. By setting up the first lifting unit and the second lifting unit, the first lifting unit and the second lifting unit can be completely folded. The folded lifting components can be hidden under the robot body, reducing the space occupied and the footprint of the inspection robot. When it needs to pass through some narrow spaces, the inspection robot can still pass normally;

[0033] 3. By setting up a driven wheel, the driven wheel can assist the driving wheel, speed up the movement speed of the robot body, and make the robot body more convenient to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 The diagram is a structural diagram of a rail-mounted inspection robot.

[0035] Figure 2 It is a structural diagram of the lifting component.

[0036] Figure 3 It is a cross-sectional view of the robot body.

[0037] Figure 4 This is a structural diagram of the robot from another perspective.

[0038] Explanation of the accompanying drawings: 1. Track; 2. Robot body; 21. Front plate; 22. Rear plate; 23. Side plate; 24. Top plate; 25. Driving unit; 251. Driving motor; 252. Driving bevel gear; 26. Driving unit; 261. Driven bevel gear; 262. Driving gear; 263. Driven gear; 264. Driving wheel; 27. Driven wheel; 28. Battery; 3. Ultrasonic radar; 4. Lifting assembly; 41. Mounting seat; 42. First lifting unit; 421. First motor; 422. First lifting arm; 423. First swing arm; 43. Second lifting unit; 431. Second motor; 432. Second lifting arm; 433. Second swing arm; 44. Mounting platform; 5. Camera; 6. Infrared thermal imager; 7. Gas sensor. DETAILED DESCRIPTION

[0039] In the description of this application, it should be noted that the terms "horizontal", "vertical", "close", "far", "up", "down", "inside", etc. are based on the relative relationships shown in the drawings, and are only used to facilitate the description of the present invention and simplify the description, and do not indicate or imply that the process or module referred to must have a specific orientation, state and operation, and therefore cannot be understood as limiting the present invention. Figure 1-4 , further details of this application are given.

[0040] An embodiment of the present application discloses a rail-hanging inspection robot.

[0041] Reference Figure 1 A rail-hanging inspection robot is used in conjunction with a rail 1, which includes a robot body 2, a lifting component 4 installed at the lower part of the robot body 2, and a camera 5 installed at the telescopic end of the lifting component 4.

[0042] Reference Figure 1 and Figure 2 One end of the lifting assembly 4 is fixed to the bottom of the robot body 2. When the camera 5 needs to be raised or lowered, the lifting assembly 4 is activated, and the telescopic end of the lifting assembly 4 drives the camera 5 to rise or fall. The inspection range of the camera 5 that can be raised and lowered is also expanded, which can more comprehensively monitor the status of the equipment, thereby achieving better inspection results.

[0043] Reference Figure 3 and Figure 4 The robot body 2 comprises a bottom plate, a front plate 21, a rear plate 22, two symmetrically mounted side plates 23, and a top plate 24. Both the front plate 21 and the rear plate 22 are concave in shape, and the top plate 24 is shaped to fit in with them. The top plate 24 is also bent into a concave shape. A track groove is formed in the robot body 2 for accommodating the track 1.

[0044] An ultrasonic radar 3 is provided on the front panel 21, which can sense obstacles in front of and behind the inspection robot. When there is an obstacle in front or behind, the inspection robot can stop in time to prevent the inspection robot from colliding with the obstacle and avoiding damage to the inspection robot.

[0045] Reference Figure 3 and Figure 4 A driving unit 25, a driving unit 26, and a driven wheel 27 are installed in the robot body 2. The driving unit 25 includes a driving motor 251 and a driving bevel gear 252 connected to the output shaft of the driving motor 251. The driving unit 26 includes a driven bevel gear 261 meshing with the driving bevel gear 252 of the driving unit 25, a driving gear 262 coaxially mounted with the driven bevel gear 261, a driven gear 263 meshing with the driving gear 262, and a driving wheel 264 coaxially mounted with the driven gear 263.

[0046] The axis of the output shaft of the driving motor 251 is horizontal, and the active units 26 are symmetrically arranged in two groups. The two driven bevel gears 261 of the two groups of active units 26 are symmetrically arranged. The two driven bevel gears 261 are respectively located on both sides of the active bevel gear 252 and are both engaged with the active bevel gear 252. When the active bevel gear 252 rotates, the two driven bevel gears 261 can rotate at the same time.

[0047] Reference Figure 3 and Figure 4 Driven gear 263 is located above driving gear 262, with its axis parallel to that of driving gear 262. An L-shaped fixing plate is positioned above driving gear 262, one end of which is bolted to top plate 24. The fixing plate's turning point, facing away from the opening, abuts against a right angle on top plate 24, located on one side of the track groove. This plate is used to support the rotating shaft of driven bevel gear 261 and secure it to the drive shaft.

[0048] One end of the rotating shaft for supporting the driven bevel gear 261 away from the driven bevel gear 261 extends into the track groove in the top plate 24 , and the driving wheel 264 is installed at the protruding end of the rotating shaft.

[0049] Reference Figure 3 and Figure 4 There are also two driven wheels 27 , which correspond to the two sets of active units 26 one by one. The driven wheels 27 are also located in the track groove on the top plate 24 , and are used in conjunction with the active wheel 264 .

[0050] The cross section of the track 1 is I-shaped, with a baffle integrally formed on the side of the lower flange plate of the track 1 close to the upper flange plate of the track 1. The baffle is located on the side of the lower flange plate away from the web. The driving wheel 264 and the driven wheel 27 can be clamped between the baffle and the web.

[0051] Reference Figure 3 and Figure 4 The baffle and the web can limit the driving wheel 264 and the driven wheel 27 to prevent the driving wheel 264 and the driven wheel 27 from offsetting and affecting their use.

[0052] Reference Figure 3 and Figure 4 The robot body 2 also includes a battery 28, which is installed on one side of the robot body 2. The battery 28 can supply power to the drive motor 251 to ensure the normal operation of the robot body 2.

[0053] When the inspection robot is required to perform an inspection, the drive motor 251 is started, which drives the driving bevel gear 252 to rotate. As the driving bevel gear 252 meshes with the driven bevel gear 261, the driven bevel gear 261 drives the driving gear 262 to rotate. The driving gear 262 meshes with the driven gear 263, and the driven gear 263 rotates. The driven gear 263 drives the driving wheel 264 to rotate. As the driving wheel 264 rotates, the robot body 2 can move forward or backward on the track 1.

[0054] Reference Figure 2 The lifting assembly 4 includes a mounting base 41 mounted on the bottom plate of the robot body 2, a first lifting unit 42 mounted on the mounting base 41 at one end, a second lifting unit 43 rotatably mounted on the mounting base 41 at one end, and a mounting platform 44 rotatably connected to the end of the first unit away from the mounting base 41, and the end of the second lifting unit 43 away from the mounting base 41 is also rotatably connected to the mounting platform 44.

[0055] The mounting base 41 is fixedly mounted on the side of the bottom plate of the robot body 2 near the front plate 21. The cross-section of the mounting base 41 is T-shaped, with the horizontal plate of the mounting base 41 connected to the robot body 2. The connection point between the first lifting unit 42 and the mounting base 41 and the hinge point between the second lifting unit 43 and the mounting base 41 are located on either side of the vertical plate of the mounting base 41.

[0056] Reference Figure 2 The first lifting unit 42 includes a first motor 421 fixedly mounted on the mounting base 41, a first lifting arm 422 having one end fixedly connected to the output shaft of the first motor 421, and a first swing arm 423 having one end rotatably connected to the end of the first lifting arm 422 away from the first motor 421. The end of the first swing arm 423 away from the first lifting arm 422 is rotatably connected to the mounting platform 44.

[0057] The second lifting unit 43 includes a second lifting arm 432 with one end rotatably connected to the mounting base 41, a second motor 431 fixedly mounted on the end of the second lifting arm 432 away from the mounting base 41, and a second swing arm 433 with one end fixedly connected to the output shaft of the second motor 431.

[0058] Reference Figure 2 The mounting platform 44 is suspended, and the camera 5 is installed on the mounting platform 44. When the camera 5 needs to be raised or lowered, the first motor 421 and the second motor 431 are started, and the output shaft of the first motor 421 drives the first lifting arm 422 to rotate, and the first lifting arm 422 drives the first swing arm 423 to rotate; the second motor 431 drives the second swing arm 433 to rotate. Since the second motor 431 is fixedly mounted on the second lifting arm 432, the angle between the second lifting arm 432 and the second swing arm 433 always remains unchanged, thereby realizing the restriction of the mounting platform 44.

[0059] Under the dual restriction of the first lifting unit 42 and the second lifting unit 43 , the mounting platform 44 can maintain a stable lifting state, thereby achieving the lifting of the camera 5 in a stable state.

[0060] Reference Figure 1 and Figure 2 When the first lifting unit 42 and the second lifting unit 43 are fully folded, the first lifting arm 422, the first swing arm 423, the second lifting arm 432, and the second swing arm 433 will be located in the same horizontal plane. After being fully folded, the first lifting arm 422, the first swing arm 423, the second lifting arm 432, and the second swing arm 433 are all located in the same horizontal plane, thereby reducing the space occupied and making it easier for the inspection robot to pass through some narrow spaces.

[0061] A gas sensor 7 is also provided at the hinge point between the first lifting arm 422 and the first swing arm 423. The gas sensor 7 can transmit information such as the composition and concentration of the gas to a remote monitoring system. When the equipment is damaged and produces an odor, and the camera 5 cannot perceive it, the gas sensor 7 can effectively transmit information to remind the staff to carry out maintenance in a timely manner.

[0062] Mounting platform 44 also includes an infrared thermal imager 6, which can capture real-time images of the entire target surface. This allows the operator to determine initial heating conditions and fault locations through the on-screen image color and hotspot tracking display. This allows for subsequent analysis, efficiently and accurately identifying the problem. The infrared thermal imager 6 can assist camera 5, enhancing the inspection robot's patrol effectiveness and enabling faster problem detection.

[0063] The implementation principle of the rail-hanging inspection robot in an embodiment of the present application is as follows: as the inspection robot moves, the first motor 421 and the second motor 431 are started, and driven by the first motor 421 and the second motor 431, the first lifting unit 42 and the second lifting unit 43 continuously move up and down, so that the shooting range of the camera 5 can be effectively expanded to achieve a better inspection effect.

[0064] This specific embodiment is merely an explanation of the present application and is not a limitation of the present application. After reading this specification, those skilled in the art may make non-creative modifications to the present embodiment as needed, but as long as they are within the scope of the claims of the present application, they are protected by the patent law.

Claims

1. A rail inspection robot, running along a track (1), characterized by: The invention comprises a robot body (2) and a lifting assembly (4) mounted on the robot body (2), one end of the lifting assembly (4) is fixed on the robot body (2), and a camera (5) is mounted on the telescopic end of the lifting assembly (4); The lifting assembly (4) includes a mounting seat (41) mounted on the robot body (2) and a suspended mounting platform (44), wherein the mounting platform (44) is used to mount a camera (5); A first lifting unit (42) and a second lifting unit (43) are provided between the mounting seat (41) and the mounting platform (44); the first lifting unit (42) comprises a first motor (421) mounted on the mounting seat (41), a first lifting arm (422) having one end fixedly connected to an output shaft of the first motor (421), and a first swing arm (423) hinged to the other end of the first lifting arm (422); the other end of the first swing arm (423) is hinged to the mounting platform (44); The second lifting unit (43) comprises a second lifting arm (432) having one end hinged to the mounting seat (41), a second motor (431) fixedly mounted on the other end of the second lifting arm (432), and a second swing arm (433) having one end fixedly connected to the output shaft of the second motor (431), and the other end of the second swing arm (433) being hinged to the mounting platform (44).

2. The rail-hanging inspection robot according to claim 1, characterized in that: The mounting seat (41) is mounted on the lower part of the robot body (2), and the mounting seat (41) is mounted on one end of the robot body (2) in the length direction.

3. The rail-hanging inspection robot according to claim 1, characterized in that: A driving unit (25) and an active unit (26) for driving the robot body (2) to move along the track (1) are provided in the robot body (2); The driving unit (25) includes a driving motor (251) and a driving bevel gear (252) connected to an output shaft of the driving motor (251); The driving unit (26) includes a driven bevel gear (261) matched with the driving bevel gear (252), a driving gear (262) coaxially mounted with the driven bevel gear (261), a driven gear (263) meshing with the driving gear (262), and a driving wheel (264) coaxially mounted with the driven gear (263), wherein the driving wheel (264) can travel along the track (1).

4. The rail-hanging inspection robot according to claim 3, characterized in that: The robot also includes a driven wheel (27) mounted on the robot body (2), wherein the driven wheel (27) cooperates with the driving wheel (264), the driven wheel (27) and the driving wheel (264) are of the same size, and the driven wheel (27) can travel along the track (1).

5. The rail-hanging inspection robot according to claim 4, characterized in that: The active units (26) are provided in two groups, and the two groups of active units (26) are symmetrically arranged. The driven wheels (27) are also provided in two groups symmetrically, and the driven wheels (27) correspond to the active units (26) one by one.

6. The rail-hanging inspection robot according to claim 1, characterized in that: An infrared thermal imager (6) is also installed on the installation platform (44).

7. The rail-hanging inspection robot according to claim 2, characterized in that: The robot body (2) includes a bottom plate, a front plate (21), a rear plate (22), two symmetrically installed side plates (23), and a top plate (24). The front plate (21) and the rear plate (22) are both in a concave shape, and the top plate (24) is adapted to the front plate (21) and the rear plate (22).

8. The rail-mounted inspection robot according to claim 7, characterized in that: An ultrasonic radar (3) is mounted on the front panel (21).

9. The rail-hanging inspection robot according to claim 2, characterized in that: A gas sensor (7) is also installed at the hinge point between the first lifting arm (422) and the first swing arm (423).

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